Robot Model class, to evaluate either mobile or fixed manipulators total transformation matrices and jacobians. More...

#include <RobotModel.h>

Public Member Functions
	RobotModel (Eigen::TransformationMatrix inertialF_T_bodyF, std::string bodyFrameID)
	Constructor for fixed robot model.

	RobotModel (Eigen::TransformationMatrix inertialF_T_bodyF, std::string bodyFrameID, Eigen::MatrixXd bodyF_JBodyFrame)
	Constructor for mobile robot model.

virtual	~RobotModel ()
	Default deconstructor.

auto	Dof () const -> int
	Returns the number of total degrees of fredoom of the system composed (both of the base if mobile and the arms).

bool	LoadArm (const std::shared_ptr< ArmModel > &arm, const Eigen::TransformationMatrix &bodyFrameToArm) noexcept(false)
	Loads an arm in the robot model.

auto	BodyFrameID () const -> const std::string &
	Method to get the body Frame id.

void	PositionOnInertialFrame (const Eigen::TransformationMatrix &inertialF_T_bodyF)
	Method to set the new body Frame position.

void	AttachRigidBodyFrame (const std::string &frameID, const std::string &attachedFrameID, const Eigen::TransformationMatrix &frameToAttachID_T_frameID) noexcept(false)
	Method adding a rigid body frame attached to the input frame id .

bool	CheckArm (const std::string &armID) const

auto	IsMobile () const -> bool
	Method checking whether the robot model has a mobile body Frame .

Eigen::MatrixXd	CartesianJacobian (const std::string &frameID) noexcept(false)
	Method computing the jacobian observed by the world frame and projected on the body Frame of the input frameID.

Eigen::MatrixXd	JointSpaceJacobian (const std::string &armID) noexcept(false)
	Method computing the joint space jacobian of the input arm ID.

Eigen::MatrixXd	ManipulabilityJacobian (const std::string &frameID) noexcept(false)
	Method computing the manipulability jacobian of the input arm ID.

double	Manipulability (const std::string &frameID) noexcept(false)
	Method returning the manipulabity value for the jacobian related to the input frameID.

Eigen::MatrixXd	DexterityJacobian (const std::string &frameID) noexcept(false)
	Method computing the dexterity jacobian of the input arm ID.

double	Dexterity (const std::string &frameID) noexcept(false)
	Method returning the dexterity value for the jacobian related to the input frameID.

Eigen::TransformationMatrix	TransformationMatrix (const std::string &frameID) noexcept(false)
	Method returning a transformation matrix of the robot model. .

Eigen::TransformationMatrix	TransformationMatrix (const std::string &frameID_j, const std::string &frameID_k)
	Method returing a transformation matrix from frameID_j to frameID_k, i.e. jTk. .

const std::shared_ptr< ArmModel > &	Arm (const std::string &ID) const noexcept(false)
	Method returning shared pointer to one of the loaded arm.

void	PositionVector (Eigen::VectorXd &position) noexcept(false)
	Method setting the position vector of the whole robot model.

Eigen::VectorXd	PositionVector ()
	Method returning the position vector of the whole robot model.

void	VelocityVector (const Eigen::VectorXd &velocity) noexcept(false)
	Method setting the velocity vector of the whole robot model.

Eigen::VectorXd	VelocityVector ()
	Method returning the velocity vector of the whole robot model.

Eigen::VectorXd	AccelerationVector ()
	Method returning the acceleration vector of the whole robot model.

void	AccelerationVector (const Eigen::VectorXd &acceleration) noexcept(false)
	Method setting the acceleration vector of the whole robot model.

void	PositionVector (const std::string &partID, const Eigen::VectorXd &position) noexcept(false)
	Method setting the position vector for a robot part (joint postion for arm and cartesian position in case of mobile body Frame).

Eigen::VectorXd	PositionVector (const std::string &partID) noexcept(false)
	Method returning the position of the input part (i.e. joint position for arm and cartesian position in case if of mobile body Frame)

void	VelocityVector (const std::string &partID, const Eigen::VectorXd &velocity) noexcept(false)
	Method setting the velocity vector for a robot part (joint velocity for arm and cartesian velocity in case of mobile body Frame ).

Eigen::VectorXd	VelocityVector (const std::string &partID) noexcept(false)
	GetVelocityVector Method returning the velocity of the input part (i.e. joints velocity for arm and cartesian velocity in case of mobile body Frame )

void	AccelerationVector (const std::string &partID, const Eigen::VectorXd &acceleration) noexcept(false)
	Method setting the acceleration vector for a robot part (joints acceleration for arm and cartesian acceleration in case of mobile body Frame ).

Eigen::VectorXd	AccelerationVector (const std::string &partID) noexcept(false)
	Method returning the position of the input part (i.e. joint acceleration for arm and cartesian acceleration in case of mobile body Frame)

void	ControlVector (const Eigen::VectorXd &y) noexcept(false)
	Method setting the control vector of the whole robot model.

Eigen::VectorXd	ControlVector (const std::string &partID) noexcept(false)
	Method returning the control vector of the input part of robot model.

Protected Member Functions
Eigen::MatrixXd	ArmJacobian (const std::string &frameID) const noexcept(false)
	Method returning the isolated arm jacobian for the input frameID.

Eigen::Matrix6d	BaseJacobian (const std::string &frameID) const
	Method returning the isolated body Frame jacobian for the input frameID.

Protected Attributes
std::shared_ptr< VehicleModel >	robotBase_
	the model of the body Frame;

std::map< std::string, std::shared_ptr< ArmModel > >	armsModel_
	map of the loaded map

std::unordered_map< std::string, Eigen::TransformationMatrix >	bodyFrameToArm_
	map of the transformation matrix from the arm bases to the body Frame

std::string	bodyFrameID_
	ID of the body Frame.

Eigen::TransformationMatrix	inertialF_T_bodyF_
	body Frame transformaion matrix

int	DoF_
	total degrees of freedom of the robot

bool	isMobileRobot_
	boolean stating wheter the robot is a mobile one

Detailed Description

Robot Model class, to evaluate either mobile or fixed manipulators total transformation matrices and jacobians.

This class provides a container for storing a multi-arm robot model. The robot could either be mobile one (hence characterized by a moving body Frame) or a static one (hence with a fixed body frame). Use the constructor a Jacobian for the body Frame is provided as input in the constructor).

In order to add arm to the robot the method LoadArm() is provided. It is in addition possible to add rigid body frames to the robot frames by using the method AttachedRigidBodyFrame().

The robot model contains an internal unique representation of the whole system, hence all the information about the robot model are given by organizing the vectors in an order a priori defined, where the moving body frame, if present, corresponds to the first 6 position of the vector. It is possible to obtain unified information about the robot position, velocity, acceleration and control by using the given methods (e.g. PositionVector() to know the position of the whole system) but methods to obtain information of a single part of the robot model are provided (e.g. PositionVector(partId) for the position of a part of the robot method, such function takes as input the id of the desired part).

The user must update the feedback for the arms and the mobile platform, if present, by using the methods PositionVector() = feedbackVector if the feedback for the whole robot are in a unique vector or PositionVector(partID) = part_feedbackVecotr if the data are separated into vectors. Similar methods are provided also with the purpose of setting the feedback in velocity and acceleration and control. For setting uniquely the body frame position, the dedicated method PositionOnInertialFrame() is provided.

By exploiting the methods provided in the ArmModel and VehicleModel class, the robot model is able to provide the transformation matrices and the jacobians for all the frames defined in the robot. For this purpose the methods TransformationMatrix() and CartesianJacobian() are provided. These methods take as input the id of the frame for which computing the matrices.

The id must be provieded according the following logic:

joint n-th: armID + rml::FrameID::Joint + "n"
rigidBody attached on arm: armID + "_" + "rigidBodyID"
rigid body attached on body frame: robotName + "_" + rigidBodyID

It is worth noticing that the transformation matrices are expressed wrt to the world frame meanwhile the jacobians are observed by the inertial frame and expressed wrt to the body frame. In addition the method TransformationMatrix() is provided in order to compute the transformation matrices in between the two frames identified by the input ids.
Furthermore the two methods JointSpaceJacobian() and ManipulabilityJacobian() are provided.
The former takes as input the armID and returns the related joint space jacobian. The latter takes as input a frame id and returns the related manipulability jacobian. In order to obtain the manipulability value for a frame the method Manipulability() must be used
It is worth noticing that the jacobians given by the RobotModel takes into account the degrees of freedom of the whole robot (hence of all the arms and of the moving platform, if present) in the aforementioned a priori defined order.

Example of frame id:

"youbot_Joint_0" for the first joint of the arm "youbot"
"youbot_tool0" for a rigid body frame "tool0" attached to the arm "youbot"

Constructor & Destructor Documentation

◆ RobotModel() [1/2]

rml::RobotModel::RobotModel	(	Eigen::TransformationMatrix	inertialF_T_bodyF,
		std::string	bodyFrameID
	)

Constructor for fixed robot model.

Parameters

[in]	inertialF_T_bodyF	transformation matrix from the world frame to body Frame.
[in]	bodyFrameID	id of the body Frame

◆ RobotModel() [2/2]

rml::RobotModel::RobotModel	(	Eigen::TransformationMatrix	inertialF_T_bodyF,
		std::string	bodyFrameID,
		Eigen::MatrixXd	bodyF_JBodyFrame
	)

Constructor for mobile robot model.

Parameters

[in]	inertialF_T_bodyF	transformation matrix from the world frame to body Frame.
[in]	bodyFrameID	id of the body Frame
[in]	JBodyFrame	jacobian of the bodyFrame in the body frame

◆ ~RobotModel()

virtual rml::RobotModel::~RobotModel ( )

virtual

Default deconstructor.

Member Function Documentation

◆ AccelerationVector() [1/4]

Eigen::VectorXd rml::RobotModel::AccelerationVector ( )

Method returning the acceleration vector of the whole robot model.

Returns: acceleration vector.

◆ AccelerationVector() [2/4]

void rml::RobotModel::AccelerationVector ( const Eigen::VectorXd & acceleration )

Method setting the acceleration vector of the whole robot model.

Parameters

[in] acceleration vector.

◆ AccelerationVector() [3/4]

Eigen::VectorXd rml::RobotModel::AccelerationVector ( const std::string & partID )

Method returning the position of the input part (i.e. joint acceleration for arm and cartesian acceleration in case of mobile body Frame)

Parameters

[in] partID

Returns: position vector, either cartesian position or joint position

◆ AccelerationVector() [4/4]

void rml::RobotModel::AccelerationVector	(	const std::string &	partID,
		const Eigen::VectorXd &	acceleration
	)

Method setting the acceleration vector for a robot part (joints acceleration for arm and cartesian acceleration in case of mobile body Frame ).

Parameters

[in] partID .

◆ Arm()

const std::shared_ptr< ArmModel > & rml::RobotModel::Arm ( const std::string & ID ) const

Method returning shared pointer to one of the loaded arm.

Parameters

[in] ID arm id.

Returns: shared ptr to the arm.

◆ ArmJacobian()

Eigen::MatrixXd rml::RobotModel::ArmJacobian ( const std::string & frameID ) const

protected

Method returning the isolated arm jacobian for the input frameID.

Parameters

[in] ID frame id

Returns: isolated jacobian

◆ AttachRigidBodyFrame()

void rml::RobotModel::AttachRigidBodyFrame	(	const std::string &	frameID,
		const std::string &	attachedFrameID,
		const Eigen::TransformationMatrix &	frameToAttachID_T_frameID
	)

Method adding a rigid body frame attached to the input frame id .

Parameters

[in]	ID	Id of the frame.
[in]	TMat	Transformation matrix of the frame.

◆ BaseJacobian()

Eigen::Matrix6d rml::RobotModel::BaseJacobian ( const std::string & frameID ) const

protected

Method returning the isolated body Frame jacobian for the input frameID.

Parameters

[in] ID frameID

Returns: Jacobian

◆ BodyFrameID()

auto rml::RobotModel::BodyFrameID ( ) const -> const std::string&

inline

Method to get the body Frame id.

Method to get the id for the body Frame, hence the frame common to all the arms.

Returns: body Frame id

◆ CartesianJacobian()

Eigen::MatrixXd rml::RobotModel::CartesianJacobian ( const std::string & frameID )

Method computing the jacobian observed by the world frame and projected on the body Frame of the input frameID.

Parameters

[in] ID frameID :

Returns: Jacobian observed by the world frame, projected on the body Frame.

◆ CheckArm()

bool rml::RobotModel::CheckArm ( const std::string & armID ) const

Checks whether the arm identified by the input id is present in the robot.

Parameters

[in] armID the arm id

Returns: true if the arm is part of the robot, false otherwise

◆ ControlVector() [1/2]

void rml::RobotModel::ControlVector ( const Eigen::VectorXd & y )

Method setting the control vector of the whole robot model.

Parameters

[in] y control vector.

◆ ControlVector() [2/2]

Eigen::VectorXd rml::RobotModel::ControlVector ( const std::string & partID )

Method returning the control vector of the input part of robot model.

Parameters

[in] partID either armModelID or robotFrameID

Returns: control vector.

◆ Dexterity()

double rml::RobotModel::Dexterity ( const std::string & frameID )

Method returning the dexterity value for the jacobian related to the input frameID.

Parameters

[in] frameID

Returns: dexterity

◆ DexterityJacobian()

Eigen::MatrixXd rml::RobotModel::DexterityJacobian ( const std::string & frameID )

Method computing the dexterity jacobian of the input arm ID.

Parameters

[in] ID armID

Returns: Jacobian

◆ Dof()

auto rml::RobotModel::Dof ( ) const -> int

inline

Returns the number of total degrees of fredoom of the system composed (both of the base if mobile and the arms).

Returns: The total number of DOFs (mobile base + arms)

◆ IsMobile()

auto rml::RobotModel::IsMobile ( ) const -> bool

inline

Method checking whether the robot model has a mobile body Frame .

Returns: true if the body Frame is mobile, false otherwise.

◆ JointSpaceJacobian()

Eigen::MatrixXd rml::RobotModel::JointSpaceJacobian ( const std::string & armID )

Method computing the joint space jacobian of the input arm ID.

Parameters

[in] ID armID

Returns: Jacobian

◆ LoadArm()

bool rml::RobotModel::LoadArm	(	const std::shared_ptr< ArmModel > &	arm,
		const Eigen::TransformationMatrix &	bodyFrameToArm
	)

Loads an arm in the robot model.

Loads a arm in the robot model, there is no limit to the number of arms that can be loaded. The ArmModel must be initialized before loading, otherwise is not accepted. A <robotFrame-to-base> transformation must be specified, which tells the position of the arm's base frame with respect to the robotFrame.

Parameters

[in]	arm	The arm model
[in]	bodyFrameToArm	The bodyFrame-to-Armbase trasnformation matrix

Returns: True if the arm has been loaded false otherwise

◆ Manipulability()

double rml::RobotModel::Manipulability ( const std::string & frameID )

Method returning the manipulabity value for the jacobian related to the input frameID.

Parameters

[in] frameID

Returns: manipulability

◆ ManipulabilityJacobian()

Eigen::MatrixXd rml::RobotModel::ManipulabilityJacobian ( const std::string & frameID )

Method computing the manipulability jacobian of the input arm ID.

Parameters

[in] ID armID

Returns: Jacobian

◆ PositionOnInertialFrame()

void rml::RobotModel::PositionOnInertialFrame ( const Eigen::TransformationMatrix & inertialF_T_bodyF )

Method to set the new body Frame position.

Parameters

[in] bodyFrame body Frame position wrt to the world frame

◆ PositionVector() [1/4]

Eigen::VectorXd rml::RobotModel::PositionVector ( )

Method returning the position vector of the whole robot model.

Returns: position vector.

◆ PositionVector() [2/4]

Eigen::VectorXd rml::RobotModel::PositionVector ( const std::string & partID )

Method returning the position of the input part (i.e. joint position for arm and cartesian position in case if of mobile body Frame)

Parameters

[in] partID

Returns: position vector, either cartesian position or joint position

◆ PositionVector() [3/4]

void rml::RobotModel::PositionVector	(	const std::string &	partID,
		const Eigen::VectorXd &	position
	)

Method setting the position vector for a robot part (joint postion for arm and cartesian position in case of mobile body Frame).

Parameters

[in] partID .

◆ PositionVector() [4/4]

void rml::RobotModel::PositionVector ( Eigen::VectorXd & position )

Method setting the position vector of the whole robot model.

Parameters

[in] position vector.

◆ TransformationMatrix() [1/2]

Eigen::TransformationMatrix rml::RobotModel::TransformationMatrix ( const std::string & frameID )

Method returning a transformation matrix of the robot model.
.

The methods returns a transformation matrix depending on the input string framID.

Parameters

[in] transformationID

Returns: Transformation Matrix.

◆ TransformationMatrix() [2/2]

Eigen::TransformationMatrix rml::RobotModel::TransformationMatrix	(	const std::string &	frameID_j,
		const std::string &	frameID_k
	)

Method returing a transformation matrix from frameID_j to frameID_k, i.e. jTk.
.

Parameters

[in]	frameID_j	first frame;
[in]	framID_k	second frame;

Returns: Transformation Matrix jTk.

◆ VelocityVector() [1/4]

Eigen::VectorXd rml::RobotModel::VelocityVector ( )

Method returning the velocity vector of the whole robot model.

Returns: velocity vector.

◆ VelocityVector() [2/4]

void rml::RobotModel::VelocityVector ( const Eigen::VectorXd & velocity )

Method setting the velocity vector of the whole robot model.

Parameters

[in] position vector.

◆ VelocityVector() [3/4]

Eigen::VectorXd rml::RobotModel::VelocityVector ( const std::string & partID )

GetVelocityVector Method returning the velocity of the input part (i.e. joints velocity for arm and cartesian velocity in case of mobile body Frame )

Parameters

[in] partID

Returns: velocity vector, either cartesian velocity or joints velocity.

◆ VelocityVector() [4/4]

void rml::RobotModel::VelocityVector	(	const std::string &	partID,
		const Eigen::VectorXd &	velocity
	)

Method setting the velocity vector for a robot part (joint velocity for arm and cartesian velocity in case of mobile body Frame ).

Parameters

[in] partID .

Member Data Documentation

◆ armsModel_

std::map<std::string, std::shared_ptr<ArmModel> > rml::RobotModel::armsModel_

protected

map of the loaded map

◆ bodyFrameID_

std::string rml::RobotModel::bodyFrameID_

protected

ID of the body Frame.

◆ bodyFrameToArm_

std::unordered_map<std::string, Eigen::TransformationMatrix> rml::RobotModel::bodyFrameToArm_

protected

map of the transformation matrix from the arm bases to the body Frame

◆ DoF_

int rml::RobotModel::DoF_

protected

total degrees of freedom of the robot

◆ inertialF_T_bodyF_

Eigen::TransformationMatrix rml::RobotModel::inertialF_T_bodyF_

protected

body Frame transformaion matrix

◆ isMobileRobot_

bool rml::RobotModel::isMobileRobot_

protected

boolean stating wheter the robot is a mobile one

◆ robotBase_

std::shared_ptr<VehicleModel> rml::RobotModel::robotBase_

protected

the model of the body Frame;

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

RobotModel.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotModel() [1/2]

◆ RobotModel() [2/2]

◆ ~RobotModel()

Member Function Documentation

◆ AccelerationVector() [1/4]

◆ AccelerationVector() [2/4]

◆ AccelerationVector() [3/4]

◆ AccelerationVector() [4/4]

◆ Arm()

◆ ArmJacobian()

◆ AttachRigidBodyFrame()

◆ BaseJacobian()

◆ BodyFrameID()

◆ CartesianJacobian()

◆ CheckArm()

◆ ControlVector() [1/2]

◆ ControlVector() [2/2]

◆ Dexterity()

◆ DexterityJacobian()

◆ Dof()

◆ IsMobile()

◆ JointSpaceJacobian()

◆ LoadArm()

◆ Manipulability()

◆ ManipulabilityJacobian()

◆ PositionOnInertialFrame()

◆ PositionVector() [1/4]

◆ PositionVector() [2/4]

◆ PositionVector() [3/4]

◆ PositionVector() [4/4]

◆ TransformationMatrix() [1/2]

◆ TransformationMatrix() [2/2]

◆ VelocityVector() [1/4]

◆ VelocityVector() [2/4]

◆ VelocityVector() [3/4]

◆ VelocityVector() [4/4]

Member Data Documentation

◆ armsModel_

◆ bodyFrameID_

◆ bodyFrameToArm_

◆ DoF_

◆ inertialF_T_bodyF_

◆ isMobileRobot_

◆ robotBase_