dyn::Robot#

rb::dyn::Robot is the main rigid-body model type in the SDK. It exposes the kinematics and dynamics computations used by model-based control and offline analysis tools.

Header

#include <rby1-sdk/dynamics/robot.h>

Declaration

Namespace	`rb::dyn`
Kind	`class template`
Primary role	Own a robot model and compute forward kinematics, Jacobians, center of mass, gravity terms, mass matrices, and inverse dynamics.

Public Member Functions

Method group	Purpose	Notes
`Robot(...)` and `CountJoints(...)`	Construct a model and inspect link-tree size.	`CountJoints(...)` is the main static helper.
`ComputeForwardKinematics(...)` and differential variants	Update link transforms and motion derivatives in a state object.	Use before Jacobian or body-velocity queries.
`ComputeBodyJacobian(...)` and `ComputeSpaceJacobian(...)`	Compute task-space Jacobians between links.	Common in controller and estimator code.
`ComputeCenterOfMass(...)` and `ComputeCenterOfMassJacobian(...)`	Compute COM position and Jacobians.	Supports whole robot or selected target links.
`ComputeGravityTerm(...)`, `ComputeMassMatrix(...)`, `ComputeInverseDynamics(...)`	Compute the main dynamics terms.	These are the standard model-based control outputs.
`ComputeMass(...)` and `ComputeReflectiveInertia(...)`	Inspect local reflected mass and inertia quantities.	Useful for analysis and tuning.
`ComputeMobility*` helpers	Map planar mobility commands through the model.	Relevant for mobile-base variants.

Detailed Reference

template<int DOF> class Robot#

Public Types

template<typename T, int N> using ContainerType = typename std::conditional_t<(N > 0), std::array<T, (unsigned int)N>, std::vector<T>>#

Public Functions

inline explicit Robot(const RobotConfiguration &robot_configuration)#

inline void Compute2ndDiffForwardKinematics(std::shared_ptr<State<DOF>> state)#

inline Eigen::Matrix<double, 6, DOF> ComputeBodyJacobian(std::shared_ptr<State<DOF>> state, unsigned int from, unsigned int to)#

inline math::se3v::MatrixType ComputeBodyVelocity(std::shared_ptr<State<DOF>> state, unsigned int from, unsigned int to)#

inline Eigen::Vector3d ComputeCenterOfMass(std::shared_ptr<State<DOF>> state, unsigned int ref_link)#

inline Eigen::Vector3d ComputeCenterOfMass(std::shared_ptr<State<DOF>> state, unsigned int ref_link, const std::vector<unsigned int> &target_links)#

inline Eigen::Vector3d ComputeCenterOfMass(std::shared_ptr<State<DOF>> state, unsigned int ref_link, unsigned int target_link)#

inline Eigen::Matrix<double, 3, DOF> ComputeCenterOfMassJacobian(std::shared_ptr<State<DOF>> state, unsigned int ref_link)#

inline Eigen::Matrix<double, 3, DOF> ComputeCenterOfMassJacobian(std::shared_ptr<State<DOF>> state, unsigned int ref_link, unsigned int target_link)#

inline void ComputeDiffForwardKinematics(std::shared_ptr<State<DOF>> state)#

inline void ComputeForwardKinematics(std::shared_ptr<State<DOF>> state)#

inline Eigen::Vector<double, DOF> ComputeGravityTerm(std::shared_ptr<State<DOF>> state)#

inline void ComputeInverseDynamics(std::shared_ptr<State<DOF>> state)#

inline double ComputeMass(std::shared_ptr<State<DOF>> state, unsigned int target_link)#

inline Eigen::Matrix<double, DOF, DOF> ComputeMassMatrix(std::shared_ptr<State<DOF>> state)#

inline math::se2v::MatrixType ComputeMobilityDiffKinematics(std::shared_ptr<State<DOF>> state)#

inline void ComputeMobilityInverseDiffKinematics(std::shared_ptr<State<DOF>> state, const Eigen::Vector2d &linear_velocity, double angular_velocity)#

inline void ComputeMobilityInverseDiffKinematics(std::shared_ptr<State<DOF>> state, const math::se2v::MatrixType &body_velocity)#

inline Eigen::Matrix<double, 6, 6> ComputeReflectiveInertia(std::shared_ptr<State<DOF>> state, unsigned int from, unsigned int to)#

inline Eigen::Matrix<double, 6, DOF> ComputeSpaceJacobian(std::shared_ptr<State<DOF>> state, unsigned int from, unsigned int to)#

inline Inertial::MatrixType ComputeTotalInertial(std::shared_ptr<State<DOF>> state, unsigned int ref_link)#

Compute total inertial of robot

Parameters:

state –
ref_link –

Returns:

inline math::SE3::MatrixType ComputeTransformation(std::shared_ptr<State<DOF>> state, unsigned int from, unsigned int to)#

inline std::vector<CollisionResult> DetectCollisionsOrNearestLinks(std::shared_ptr<State<DOF>> state, int collision_threshold = 0)#

inline std::shared_ptr<Link> GetBase()#

inline std::shared_ptr<const Link> GetBase() const#

inline int GetDOF() const#

inline std::vector<std::string> GetJointNames() const#

inline Eigen::Vector<double, DOF> GetJointProperty(const std::shared_ptr<State<DOF>> &state, const std::function<double(std::shared_ptr<Joint>)> &getter)#

inline Eigen::Vector<double, DOF> GetLimitQddotLower(const std::shared_ptr<State<DOF>> &state)#

inline Eigen::Vector<double, DOF> GetLimitQddotUpper(const std::shared_ptr<State<DOF>> &state)#

inline Eigen::Vector<double, DOF> GetLimitQdotLower(const std::shared_ptr<State<DOF>> &state)#

inline Eigen::Vector<double, DOF> GetLimitQdotUpper(const std::shared_ptr<State<DOF>> &state)#

inline Eigen::Vector<double, DOF> GetLimitQLower(const std::shared_ptr<State<DOF>> &state)#

inline Eigen::Vector<double, DOF> GetLimitQUpper(const std::shared_ptr<State<DOF>> &state)#

inline Eigen::Vector<double, DOF> GetLimitTorque(const std::shared_ptr<State<DOF>> &state)#

inline std::shared_ptr<Link> GetLink(const std::string &name) const#

inline std::shared_ptr<Link> GetLink(std::shared_ptr<State<DOF>> state, int index) const#

inline std::vector<std::string> GetLinkNames() const#

inline int GetNumberOfJoints() const#

template<typename LinkContainer = std::vector<std::string>, typename JointContainer = std::vector<std::string>> inline std::shared_ptr<State<DOF>> MakeState(const LinkContainer &link_names, const JointContainer &joint_names)#

Public Static Functions

static inline int CountJoints(const std::shared_ptr<Link> &base_link, bool include_fixed = false)#

struct Joint_#

Public Members

int child_link_idx = {}#

std::shared_ptr<Joint> joint = {nullptr}#

int parent_link_idx = {}#

math::se3v::MatrixType S = {math::se3v::MatrixType::Zero()}#

struct Link_#

Public Functions

inline int AddLink(const std::shared_ptr<Link> &link, const math::SE3::MatrixType &M_wrt_p)#

inline void SetBaseLink(const std::shared_ptr<Link> &link, const math::SE3::MatrixType &T)#

Public Members

std::vector<int> child_joint_idx = {}#

int depth = {0}#

Inertial::MatrixType I = {Inertial::MatrixType::Zero()}#

Inertial::MatrixType J = {Inertial::MatrixType::Zero()}#

std::vector<SubLink_> links#

math::SE3::MatrixType M = {math::SE3::Identity()}#

int parent_joint_idx = {-1}#

struct SubLink_#

Public Members

Inertial::MatrixType J_wrt_p#

std::shared_ptr<Link> link#

math::SE3::MatrixType M_wrt_base#

math::SE3::MatrixType M_wrt_p#

struct LinkIdx_#

Public Members

int link_idx#

int sub_link_idx#

Related Types

Examples

dynamics/load_urdf.cpp
dynamics/mass_matrix.cpp
dynamics/inverse_dynamics.cpp