A class for analytical Kinematics Solving. More...

#include <kinematics.h>

Public Types
enum	LegType { frontLeft = 1 , frontRight = 2 , rearLeft = 3 , rearRight = 4 , NONE }
	Leg type enumerator. More...

enum	BodyType { base = 1 , hip = 2 , thigh = 3 , leg = 4 , foot = 5 }
	Body type enumerator. More...

Public Member Functions
	Kinematics ()
	Constructor. More...

virtual	~Kinematics ()
	Destructor. More...

bool	SolveForwardKinematics (const GeneralizedCoordinates &_q, FootstepPositions &_f_pos)
	The SolveForwardKinematics function calculates the Forward Kinematics, i.e. maps joint angles in Joint Space to a coordinate point in Coordinate Space. More...

bool	SolveInverseKinematics (const Twist &_q_b, const FootstepPositions &_f_pos, JointSpaceVector &_q_r)
	The SolveInverseKinematics function calculates the Inverse Kinematics, i.e. maps a coordinate point in the Coordinate Space to joint angles in the Joint Space. More...

Vector3d	SolveSingleLegForwardKinematics (const Vector3d &_h_pos, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp)
	The SolveSingleLegForwardKinematics function calculates the Forward Kinematics for a single leg. More...

Vector3d	SolveSingleLegForwardKinematics (const Vector3d &_joint_angles)
	The SolveSingleLegForwardKinematics function calculates the foot position in the hip frame. More...

Vector3d	SolveSingleLegForwardKinematics (const LegType &_leg_type, const Vector3d &_joint_angles)
	The SolveSingleLegForwardKinematics function calculates the foot position in the hip frame. More...

Vector3d	SolveSingleLegHipToFootForwardKinematics (const LegType &_leg_type, const Vector3d &_joint_angles)
	The SolveSingleLegHipToFootForwardKinematics function calculates the foot position in the hip frame. More...

bool	SolveSingleLegInverseKinematics (const bool &_offset, const Vector3d &_h_pos, const Vector3d &_f_pos, Vector3d &_joint_angles)
	The SolveSingeLegInverseKinematics function calculates the inverse kinematics for a single leg. More...

bool	SolveSingleLegInverseKinematics (const bool &_offset, const Vector3d &_f_pos, Vector3d &_joint_angles)
	The SolveSingeLegInverseKinematics function calculates the inverse kinematics of foot in the hip frame. More...

TransMatrix	GetDhTransform (const double &_a, const double &_alpha, const double &_d, const double &_theta)
	The GetDhTransform function returns the Denavit-Hartenberg transformation from frame A to frame B. More...

TransMatrix	GetHipToBodyTransform (const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp)
	The GetHipToBodyTransform function returns the homogeneous transformation from the hip frame to the specified body frame. More...

Eigen::Matrix< double, 3, 3 >	GetRotationMatrixWToB (const double &_roll, const double &_pitch, const double &_yaw)
	The GetRotationMatrixWToB function returns the Euler Angles ZYX rotation matrix from World to Body frame, i.e., the transform from Body to World. More...

Eigen::Matrix< double, 3, 3 >	GetRotationMatrixWToBDiff (const double &_roll, const double &_pitch, const double &_yaw, const double &_roll_rate, const double &_pitch_rate, const double &_yaw_rate)
	The GetRotationMatrixWToBDiff function returns the time derivative of the Euler Angles ZYX rotation matrix from World to Body frame. More...

Eigen::Matrix< double, 3, 3 >	GetRotationMatrixWToC (const double &_roll, const double &_pitch, const double &_yaw)
	The GetRotationMatrixWToC function returns the Euler Angles ZYX rotation matrix from World to Control frame, i.e., the transform from Control to World. For flat-terrain the roll and pitch angles should be set to zero. More...

Eigen::Matrix< double, 3, 3 >	GetRotationMatrixWToCDiff (const double &_roll, const double &_pitch, const double &_yaw, const double &_roll_rate, const double &_pitch_rate, const double &_yaw_rate)
	The GetRotationMatrixWToCDiff function returns the time derivative of the Euler Angles ZYX rotation matrix from World to Control frame. More...

Eigen::Matrix< double, 3, 3 >	GetRotationMatrixCToB (const double &_roll, const double &_pitch, const double &_yaw)
	The GetRotationMatrixCToB function returns the Euler Angles ZYX rotation matrix from Control to Body frame, i.e., the transform from Body to Control. For flat-terrain the yaw angle should be set zero. More...

Eigen::Matrix< double, 3, 3 >	GetRotationMatrixCToBDiff (const double &_roll, const double &_pitch, const double &_yaw, const double &_roll_rate, const double &_pitch_rate, const double &_yaw_rate)
	The GetRotationMatrixCToBDiff function returns the time derivative of the Euler Angles ZYX rotation matrix from World to Body frame. More...

Eigen::Matrix< double, 3, 1 >	GetPositionBaseToBodyInB (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetPositionBaseToBodyInB returns the position vector from base origin to COM position in body-frame for a given body. More...

Eigen::Matrix< double, 3, 3 >	GetTranslationJacobianInB (const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp)
	The GetTranslationJacobianInB function returns the 3x3 Jacobian matrix for body linear velocities in the body(base)-frame for a given state. More...

Eigen::Matrix< double, 3, 12 >	GetTranslationJacobianInB (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 12, 1 > &_q_r)
	The GetTranslationJacobianInB function returns the 3x12 Jacobian matrix for body linear velocities in the body(base)-frame for given states. More...

Eigen::Matrix< double, 3, 18 >	GetTranslationJacobianInW (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetTranslationJacobianInW function returns the 3x18 spatial translation Jacobian mapping generalized velocities to operational space twist of the body attached frame. More...

Eigen::Matrix< double, 3, 18 >	GetTranslationJacobianInC (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetTranslationJacobianInC function returns the 3x18 spatial translation Jacobian mapping generalized velocities to operational space twist of the control frame. More...

Eigen::Matrix< double, 3, 3 >	GetTranslationJacobianInBDiff (const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp, const double &_dot_theta_hy, const double &_dot_theta_hp, const double &_dot_theta_kp)
	The GetTranslationJacobianDerivativeInB function returns the time derivative of the 3x3 translation Jacobian matrix. More...

Eigen::Matrix< double, 3, 12 >	GetTranslationJacobianInBDiff (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 12, 1 > &_q_r, const Eigen::Matrix< double, 12, 1 > &_dot_q_r)
	The GetTranslationJacobianInBDiff function returns the time derivative of the 3x12 translation Jacobian matrix. More...

Eigen::Matrix< double, 3, 18 >	GetTranslationJacobianInWDiff (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetTranslationJacobianInWDiff function returns the time derivative of the 3x18 spatial translation Jacobian in the world frame. More...

Eigen::Matrix< double, 3, 18 >	GetTranslationJacobianInCDiff (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetTranslationJacobianInCDiff function returns the time derivative of the 3x18 spatial translation Jacobian in the control frame. More...

Eigen::Matrix< double, 3, 3 >	GetRotationJacobianInB (const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp)
	The GetRotationJacobianInB function returns the 3x3 Jacobian matrix for body angular velocities in the body(base)-frame for a given state. More...

Eigen::Matrix< double, 3, 12 >	GetRotationJacobianInB (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 12, 1 > &_q_r)
	The GetRotationJacobianInB function returns the 3x3 Jacobian matrix for body angular velocities in the body(base)-frame for a given state. More...

Eigen::Matrix< double, 3, 18 >	GetRotationJacobianInW (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetRotationJacobianInW function returns the 3x18 spatial rotation Jacobian mapping generalized velocities to operational space twist of the body attached frame. More...

Eigen::Matrix< double, 3, 18 >	GetRotationJacobianInC (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetRotationJacobianInC function returns the 3x18 spatial rotation Jacobian mapping generalized velocities to control frame twist of the body attached frame. More...

Eigen::Matrix< double, 3, 3 >	GetRotationJacobianInBDiff (const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp, const double &_dot_theta_hy, const double &_dot_theta_hp, const double &_dot_theta_kp)
	The GetRotationJacobianInBDiff function returns the time derivative of the 3x3 Rotation Jacobian matrix. More...

Eigen::Matrix< double, 3, 12 >	GetRotationJacobianInBDiff (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 12, 1 > &_q_r, const Eigen::Matrix< double, 12, 1 > &_dot_q_r)
	The GetRotationJacobianDerivativeInB function returns the time derivative of the 3x12 Rotation Jacobian matrix. More...

Eigen::Matrix< double, 3, 18 >	GetRotationJacobianInWDiff (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetRotationJacobianInWDiff function returns the time derivative of the 3x18 spatial Rotation Jacobian. More...

Eigen::Matrix< double, 3, 18 >	GetRotationJacobianInCDiff (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetRotationJacobianInCDiff function returns the time derivative of the 3x18 control frame Rotation Jacobian. More...

Eigen::Matrix< double, 6, 18 >	GetJacobianInW (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetJacobianInW function returns the 6x18 spatial Jacobian mapping generalized velocities to operational space twist of the body attached frame. More...

Eigen::Matrix< double, 6, 18 >	GetJacobianInWDiff (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetJacobianInW function returns the time derivative of the 6x18 spatial Jacobian. More...

Eigen::Matrix< double, Eigen::Dynamic, 18 >	GetContactJacobianInW (std::vector< LegType > &_legs, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetContactJacobianInW function returns the (3*n_c)x18 support Jacobian mapping reaction forces at the contact points to generalized coordinate space. More...

Eigen::Matrix< double, Eigen::Dynamic, 18 >	GetContactJacobianInWDiff (std::vector< LegType > &_legs, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetContactJacobianInWDiff function returns the time derivative of the (3*n_c)x18 support Jacobian. More...

Eigen::Matrix< double, Eigen::Dynamic, 18 >	GetSwingJacobianInW (std::vector< LegType > &_legs, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetSwingJacobianInW function returns the (3*n_s)x18 support Jacobian mapping swing foot velocities to generalized coordinate space. (n_s = 4 - n_c) More...

Eigen::Matrix< double, Eigen::Dynamic, 18 >	GetSwingJacobianInWDiff (std::vector< LegType > &_legs, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetContactJacobianInWDiff function returns the time derivative of the (3*n_s)x18 support Jacobian. (n_s = 4 - n_c) More...

Eigen::Matrix< double, 18, 18 >	GetSingleBodyMassMatrix (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetSingleBodyMassMatrix function returns the mass matrix for a single body in the system. More...

Eigen::Matrix< double, 18, 18 >	GetMassMatrix (const Eigen::Matrix< double, 18, 1 > &_q)
	The GetMassMatrix function returns the mass matrix for the floating base system. More...

Eigen::Matrix< double, 3, 3 >	GetSingleLegMassMatrix (const Eigen::Matrix< double, 3, 1 > &_q)

Eigen::Matrix< double, 18, 1 >	GetSingleBodyCoriolisAndCentrifugalTerms (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetSingleBodyCoriolisAndCentrifugalTerms function returns the coriolis and centrifugal terms for a single body in the system. More...

Eigen::Matrix< double, 18, 1 >	GetCoriolisAndCentrifugalTerms (const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u)
	The GetCoriolisAndCentrifugalTerms function returns the coriolis and centrifugal terms for the floating base system. More...

Eigen::Matrix< double, 3, 1 >	GetSingleLegCoriolisAndCentrifugalTerms (const Eigen::Matrix< double, 3, 1 > &_q, const Eigen::Matrix< double, 3, 1 > &_u)

Eigen::Matrix< double, 18, 1 >	GetSingleBodyGravitationalTerms (const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q)
	The GetSingleBodyGravitationalTerms function returns the gravitational terms for a single body in the system. More...

Eigen::Matrix< double, 18, 1 >	GetGravitationalTerms (const Eigen::Matrix< double, 18, 1 > &_q)
	The GetGravitationalTerms function returns the gravitational terms for the floating base system. More...

Eigen::Matrix< double, 3, 1 >	GetSingleLegGravitationalTerms (const Eigen::Matrix< double, 3, 1 > &_q)

bool	ValidateSolution (const JointSpaceVector &_q_r)
	The ValidateSolution function evaluates whether a set of joint angles is within joint limits. More...

bool	ValidateSolution (const Eigen::Matrix< double, 3, 1 > &_q_r)
	Overloaded version of the ValidateSolution function, which evaluates whether a set of joint angles for a single leg is within the joint limits. More...

bool	GetflOffset ()

bool	GetfrOffset ()

bool	GetrlOffset ()

bool	GetrrOffset ()

Eigen::Matrix< double, 3, 1 >	GetDistanceFromBaseToFrontLeftHipInB ()

Eigen::Matrix< double, 3, 1 >	GetDistanceFromBaseToFrontRightHipInB ()

Eigen::Matrix< double, 3, 1 >	GetDistanceFromBaseToRearLeftHipInB ()

Eigen::Matrix< double, 3, 1 >	GetDistanceFromBaseToRearRightHipInB ()

Private Member Functions
Eigen::Matrix< double, 3, 3 >	GetInertiaMatrix (const double &_I_XX, const double &_I_YY, const double &_I_ZZ, const double &_I_XY, const double &_I_XZ, const double &_I_YZ)
	The GetInertiaMatrix function returns the inertia matrix from the six inertial parameters. More...

double	GetBodyMass (BodyType _body)

Eigen::Matrix< double, 3, 3 >	GetBodyInertia (BodyType _body)

Eigen::Matrix< double, 3, 3 >	GetBodyInertia (BodyType _body, LegType _leg)

Private Attributes
JointSpaceVector	min_angles
	Minimum joint limits. More...

JointSpaceVector	max_angles
	Maximum joint limits. More...

Vector3d	positionBaseToFrontLeftInB
	Position vector relating the base coordinates to the front left hip. More...

Vector3d	positionBaseToFrontRightInB
	Position vector relating the base coordinates to the front right hip. More...

Vector3d	positionBaseToRearLeftInB
	Position vector relating the base coordinates to the rear left hip. More...

Vector3d	positionBaseToRearRightInB
	Position vector relating the base coordinates to the rear right hip. More...

double	L1
	Hip link length. More...

double	L2
	Thigh (Femur) link length. More...

double	L3
	Leg (Fibula & Tibia) link length. More...

double	LC1
	Hip yaw joint to hip CoM length. More...

double	LC2
	Hip pitch joint to thigh CoM length. More...

double	LC3
	Knee pitch joint to leg CoM length. More...

bool	flOffset
	Front Left offset. More...

bool	frOffset
	Front Right offset. More...

bool	rlOffset
	Rear Left offset. More...

bool	rrOffset
	Rear Right offset. More...

double	M0
	Body link mass. More...

double	M1
	Hip link mass. More...

double	M2
	Thigh link mass. More...

double	M3
	Leg link mass. More...

Eigen::Matrix< double, 3, 3 >	I0
	Body link inertia matrix. More...

Eigen::Matrix< double, 3, 3 >	I1_fl_rr
	Front Left & Rear Right Hip link inertia matrix. More...

Eigen::Matrix< double, 3, 3 >	I1_fr_rl
	Front Right & Rear Left Hip link inertia matrix. More...

Eigen::Matrix< double, 3, 3 >	I2
	Thigh link inertia matrix. More...

Eigen::Matrix< double, 3, 3 >	I3
	Leg link inertia matrix. More...

Detailed Description

A class for analytical Kinematics Solving.

Definition at line 53 of file kinematics.h.

Member Enumeration Documentation

◆ LegType

enum Kinematics::LegType

Leg type enumerator.

Enumerator
frontLeft
frontRight
rearLeft
rearRight
NONE

Definition at line 56 of file kinematics.h.

◆ BodyType

enum Kinematics::BodyType

Body type enumerator.

Enumerator
base
hip
thigh
leg
foot

Definition at line 59 of file kinematics.h.

Constructor & Destructor Documentation

◆ Kinematics()

Kinematics::Kinematics ( )

Constructor.

Definition at line 31 of file kinematics.cpp.

◆ ~Kinematics()

Kinematics::~Kinematics ( )

virtual

Destructor.

Definition at line 101 of file kinematics.cpp.

Member Function Documentation

◆ SolveForwardKinematics()

bool Kinematics::SolveForwardKinematics	(	const GeneralizedCoordinates &	_q,
		FootstepPositions &	_f_pos
	)

The SolveForwardKinematics function calculates the Forward Kinematics, i.e. maps joint angles in Joint Space to a coordinate point in Coordinate Space.

Parameters

[in]	_q	Generalized coordinates. containing the floating base and joint positions.
[out]	_f_pos	Footstep positions generated from solving the forward kinematics.

Returns: Evaluates true if an Forward Kinematics solution is found, and false if not.

Definition at line 165 of file kinematics.cpp.

◆ SolveInverseKinematics()

bool Kinematics::SolveInverseKinematics	(	const Twist &	_q_b,
		const FootstepPositions &	_f_pos,
		JointSpaceVector &	_q_r
	)

The SolveInverseKinematics function calculates the Inverse Kinematics, i.e. maps a coordinate point in the Coordinate Space to joint angles in the Joint Space.

Parameters

[in]	_q_b	Base Pose in the world frame.
[in]	_f_pos	Footstep positions in the world frame.
[out]	_q_r	Joint angles from the Inverse Kinematics solution.

Returns: Evaluates true if an Inverse Kinematics solution is found, and false if not.

Definition at line 104 of file kinematics.cpp.

◆ SolveSingleLegForwardKinematics() [1/3]

Vector3d Kinematics::SolveSingleLegForwardKinematics	(	const Vector3d &	_h_pos,
		const double &	_theta_hy,
		const double &	_theta_hp,
		const double &	_theta_kp
	)

The SolveSingleLegForwardKinematics function calculates the Forward Kinematics for a single leg.

Parameters

[in]	_h_pos	Hip position in world frame.
[in]	_theta_hy	Hip yaw angle.
[in]	_theta_hp	Hip pitch angle.
[in]	_theta_kp	Knee pitch angle.

Returns: Returns end-effector position in Coordinate Space.

Definition at line 229 of file kinematics.cpp.

◆ SolveSingleLegForwardKinematics() [2/3]

Vector3d Kinematics::SolveSingleLegForwardKinematics ( const Vector3d & _joint_angles )

The SolveSingleLegForwardKinematics function calculates the foot position in the hip frame.

Parameters

[in] _joint_angles A vector containing the hip yaw, hip pitch and knee pitch angles

Returns: Returns end-effector position in the hip frame.

Definition at line 289 of file kinematics.cpp.

◆ SolveSingleLegForwardKinematics() [3/3]

Vector3d Kinematics::SolveSingleLegForwardKinematics	(	const LegType &	_leg_type,
		const Vector3d &	_joint_angles
	)

The SolveSingleLegForwardKinematics function calculates the foot position in the hip frame.

Parameters

[in]	_leg_type	Indicates which leg it is
[in]	_joint_angles	A vector containing the hip yaw, hip pitch and knee pitch angles

Returns: Returns end-effector position in the hip frame.

Definition at line 248 of file kinematics.cpp.

◆ SolveSingleLegHipToFootForwardKinematics()

Eigen::Matrix< double, 3, 1 > Kinematics::SolveSingleLegHipToFootForwardKinematics	(	const LegType &	_leg_type,
		const Vector3d &	_joint_angles
	)

The SolveSingleLegHipToFootForwardKinematics function calculates the foot position in the hip frame.

Parameters

[in]	_leg_type	Indicates which leg it is
[in]	_joint_angles	A vector containing the hip yaw, hip pitch and knee pitch angles

Returns: Returns end-effector position in the hip frame.

Definition at line 262 of file kinematics.cpp.

◆ SolveSingleLegInverseKinematics() [1/2]

bool Kinematics::SolveSingleLegInverseKinematics	(	const bool &	_offset,
		const Vector3d &	_h_pos,
		const Vector3d &	_f_pos,
		Vector3d &	_joint_angles
	)

The SolveSingeLegInverseKinematics function calculates the inverse kinematics for a single leg.

Parameters

[in]	_offset	Bool indicating whether the leg is roll offset to -90 or 90 degrees. True indicates roll offset of of 90 deg, false indicates roll offset of -90 degrees.
[in]	_h_pos	Hip position in world frame.
[in]	_f_pos	Foot position in world frame.
[out]	_joint_angles	Joint angles from the Inverse Kinematics solution for a single-leg (sl).

Returns: Evaluates true if an Inverse Kinematics solution is found, and false if not.

Definition at line 296 of file kinematics.cpp.

◆ SolveSingleLegInverseKinematics() [2/2]

bool Kinematics::SolveSingleLegInverseKinematics	(	const bool &	_offset,
		const Vector3d &	_f_pos,
		Vector3d &	_joint_angles
	)

The SolveSingeLegInverseKinematics function calculates the inverse kinematics of foot in the hip frame.

Parameters

[in]	_offset	Bool indicating whether the leg is roll offset to -90 or 90 degrees. True indicates roll offset of of 90 deg, false indicates roll offset of -90 degrees.
[in]	_f_pos	Foot position in hip frame.
[out]	_joint_angles	Joint angles from the Inverse Kinematics solution for a single-leg (sl).

Returns: Evaluates true if an Inverse Kinematics solution is found, and false if not.

Definition at line 362 of file kinematics.cpp.

◆ GetDhTransform()

TransMatrix Kinematics::GetDhTransform	(	const double &	_a,
		const double &	_alpha,
		const double &	_d,
		const double &	_theta
	)

The GetDhTransform function returns the Denavit-Hartenberg transformation from frame A to frame B.

Parameters

[in]	_a	Link length.
[in]	_alpha	Link twist.
[in]	_d	Link offset.
[in]	_theta	Joint angle.

Returns: Returns the kindr homogeneous transformation matrix from frame A to frame B.

Definition at line 369 of file kinematics.cpp.

◆ GetHipToBodyTransform()

TransMatrix Kinematics::GetHipToBodyTransform	(	const LegType &	_leg,
		const BodyType &	_body,
		const double &	_theta_hy,
		const double &	_theta_hp,
		const double &	_theta_kp
	)

The GetHipToBodyTransform function returns the homogeneous transformation from the hip frame to the specified body frame.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_theta_hy	Hip yaw angle.
[in]	_theta_hp	Hip pitch angle.
[in]	_theta_kp	Knee pitch angle.

Returns: Returns the kindr homogeneous transformation matrix from hip to body.

Definition at line 389 of file kinematics.cpp.

◆ GetRotationMatrixWToB()

Eigen::Matrix< double, 3, 3 > Kinematics::GetRotationMatrixWToB	(	const double &	_roll,
		const double &	_pitch,
		const double &	_yaw
	)

The GetRotationMatrixWToB function returns the Euler Angles ZYX rotation matrix from World to Body frame, i.e., the transform from Body to World.

Parameters

[in]	_roll	Roll angle (x-axis).
[in]	_pitch	Pitch angle (y-axis).
[in]	_yaw	Yaw angle (z-axis).

Returns: Returns the rotation matrix from World to Body frame (transform from Body to World), using the Euler Angles ZYX convention.

Definition at line 539 of file kinematics.cpp.

◆ GetRotationMatrixWToBDiff()

Eigen::Matrix< double, 3, 3 > Kinematics::GetRotationMatrixWToBDiff	(	const double &	_roll,
		const double &	_pitch,
		const double &	_yaw,
		const double &	_roll_rate,
		const double &	_pitch_rate,
		const double &	_yaw_rate
	)

The GetRotationMatrixWToBDiff function returns the time derivative of the Euler Angles ZYX rotation matrix from World to Body frame.

Parameters

[in]	_roll	Roll angle (x-axis).
[in]	_pitch	Pitch angle (y-axis).
[in]	_yaw	Yaw angle (z-axis).
[in]	_roll_rate	Roll rate (x-axis).
[in]	_pitch_rate	Pitch rate (y-axis).
[in]	_yaw_rate	Yaw rate (z-axis).

Returns: Returns the time derivative of the rotation matrix from World to Body frame, using the Euler Angles ZYX convention.

Definition at line 552 of file kinematics.cpp.

◆ GetRotationMatrixWToC()

Eigen::Matrix< double, 3, 3 > Kinematics::GetRotationMatrixWToC	(	const double &	_roll,
		const double &	_pitch,
		const double &	_yaw
	)

The GetRotationMatrixWToC function returns the Euler Angles ZYX rotation matrix from World to Control frame, i.e., the transform from Control to World. For flat-terrain the roll and pitch angles should be set to zero.

Parameters

[in]	_roll	Roll angle (x-axis).
[in]	_pitch	Pitch angle (y-axis).
[in]	_yaw	Yaw angle (z-axis).

Returns: Returns the rotation matrix from World to Control frame (transform from Body to World), using the Euler Angles ZYX convention.

Definition at line 574 of file kinematics.cpp.

◆ GetRotationMatrixWToCDiff()

Eigen::Matrix< double, 3, 3 > Kinematics::GetRotationMatrixWToCDiff	(	const double &	_roll,
		const double &	_pitch,
		const double &	_yaw,
		const double &	_roll_rate,
		const double &	_pitch_rate,
		const double &	_yaw_rate
	)

The GetRotationMatrixWToCDiff function returns the time derivative of the Euler Angles ZYX rotation matrix from World to Control frame.

Parameters

[in]	_roll	Roll angle (x-axis).
[in]	_pitch	Pitch angle (y-axis).
[in]	_yaw	Yaw angle (z-axis).
[in]	_roll_rate	Roll rate (x-axis).
[in]	_pitch_rate	Pitch rate (y-axis).
[in]	_yaw_rate	Yaw rate (z-axis).

Returns: Returns the time derivative of the rotation matrix from World to Control frame, using the Euler Angles ZYX convention.

Definition at line 587 of file kinematics.cpp.

◆ GetRotationMatrixCToB()

Eigen::Matrix< double, 3, 3 > Kinematics::GetRotationMatrixCToB	(	const double &	_roll,
		const double &	_pitch,
		const double &	_yaw
	)

The GetRotationMatrixCToB function returns the Euler Angles ZYX rotation matrix from Control to Body frame, i.e., the transform from Body to Control. For flat-terrain the yaw angle should be set zero.

Parameters

[in]	_roll	Roll angle (x-axis).
[in]	_pitch	Pitch angle (y-axis).
[in]	_yaw	Yaw angle (z-axis).

Returns: Returns the rotation matrix from Control to Body frame (transform from Body to Control), using the Euler Angles ZYX convention.

Definition at line 609 of file kinematics.cpp.

◆ GetRotationMatrixCToBDiff()

Eigen::Matrix< double, 3, 3 > Kinematics::GetRotationMatrixCToBDiff	(	const double &	_roll,
		const double &	_pitch,
		const double &	_yaw,
		const double &	_roll_rate,
		const double &	_pitch_rate,
		const double &	_yaw_rate
	)

The GetRotationMatrixCToBDiff function returns the time derivative of the Euler Angles ZYX rotation matrix from World to Body frame.

Parameters

[in]	_roll	Roll angle (x-axis).
[in]	_pitch	Pitch angle (y-axis).
[in]	_yaw	Yaw angle (z-axis).
[in]	_roll_rate	Roll rate (x-axis).
[in]	_pitch_rate	Pitch rate (y-axis).
[in]	_yaw_rate	Yaw rate (z-axis).

Returns: Returns the time derivative of the rotation matrix from Control to Body frame, using the Euler Angles ZYX convention.

Definition at line 622 of file kinematics.cpp.

◆ GetPositionBaseToBodyInB()

Eigen::Matrix< double, 3, 1 > Kinematics::GetPositionBaseToBodyInB	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetPositionBaseToBodyInB returns the position vector from base origin to COM position in body-frame for a given body.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.

Returns: Returns the position vector from base to foot.

Definition at line 644 of file kinematics.cpp.

◆ GetTranslationJacobianInB() [1/2]

Eigen::Matrix< double, 3, 3 > Kinematics::GetTranslationJacobianInB	(	const LegType &	_leg,
		const BodyType &	_body,
		const double &	_theta_hy,
		const double &	_theta_hp,
		const double &	_theta_kp
	)

The GetTranslationJacobianInB function returns the 3x3 Jacobian matrix for body linear velocities in the body(base)-frame for a given state.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_theta_hy	Hip yaw angle.
[in]	_theta_hp	Hip pitch angle.
[in]	_theta_kp	Knee pitch angle.

Returns: Returns the 3x3 translation Jacobian Matrix relating body linear velocities to joint velocities.

Definition at line 723 of file kinematics.cpp.

◆ GetTranslationJacobianInB() [2/2]

Eigen::Matrix< double, 3, 12 > Kinematics::GetTranslationJacobianInB	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 12, 1 > &	_q_r
	)

The GetTranslationJacobianInB function returns the 3x12 Jacobian matrix for body linear velocities in the body(base)-frame for given states.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q_r	Joint coordinates.

Returns: Returns the 3x12 translation Jacobian Matrix relating body linear velocities to joint velocities.

Definition at line 840 of file kinematics.cpp.

◆ GetTranslationJacobianInW()

Eigen::Matrix< double, 3, 18 > Kinematics::GetTranslationJacobianInW	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetTranslationJacobianInW function returns the 3x18 spatial translation Jacobian mapping generalized velocities to operational space twist of the body attached frame.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.

Returns: Returns the translation Jacobian Matrix mapping from generalized velocities to the operational space (world-frame) twist of the body attached frame.

Definition at line 911 of file kinematics.cpp.

◆ GetTranslationJacobianInC()

Eigen::Matrix< double, 3, 18 > Kinematics::GetTranslationJacobianInC	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetTranslationJacobianInC function returns the 3x18 spatial translation Jacobian mapping generalized velocities to operational space twist of the control frame.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.

Returns: Returns the translation Jacobian Matrix mapping from generalized velocities to the operational space (world-frame) twist of the control frame.

Definition at line 969 of file kinematics.cpp.

◆ GetTranslationJacobianInBDiff() [1/2]

Eigen::Matrix< double, 3, 3 > Kinematics::GetTranslationJacobianInBDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const double &	_theta_hy,
		const double &	_theta_hp,
		const double &	_theta_kp,
		const double &	_dot_theta_hy,
		const double &	_dot_theta_hp,
		const double &	_dot_theta_kp
	)

The GetTranslationJacobianDerivativeInB function returns the time derivative of the 3x3 translation Jacobian matrix.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_theta_hy	Hip yaw angle.
[in]	_theta_hp	Hip pitch angle.
[in]	_theta_kp	Knee pitch angle.
[in]	_dot_theta_hy	Hip yaw rate.
[in]	_dot_theta_hp	Hip pitch rate.
[in]	_dot_theta_kp	Knee pitch rate.

Returns: Returns the 3x3 time derivative of the translation Jacobian Matrix.

Definition at line 1027 of file kinematics.cpp.

◆ GetTranslationJacobianInBDiff() [2/2]

Eigen::Matrix< double, 3, 12 > Kinematics::GetTranslationJacobianInBDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 12, 1 > &	_q_r,
		const Eigen::Matrix< double, 12, 1 > &	_dot_q_r
	)

The GetTranslationJacobianInBDiff function returns the time derivative of the 3x12 translation Jacobian matrix.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q_r	Joint coordinates.
[in]	_dot_q_r	Joint velocities.

Returns: Returns the 3x12 time derivative of the translation Jacobian Matrix.

Definition at line 1159 of file kinematics.cpp.

◆ GetTranslationJacobianInWDiff()

Eigen::Matrix< double, 3, 18 > Kinematics::GetTranslationJacobianInWDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetTranslationJacobianInWDiff function returns the time derivative of the 3x18 spatial translation Jacobian in the world frame.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns the 3x18 time derivative of the translation Jacobian Matrix in the world frame.

Definition at line 1254 of file kinematics.cpp.

◆ GetTranslationJacobianInCDiff()

Eigen::Matrix< double, 3, 18 > Kinematics::GetTranslationJacobianInCDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetTranslationJacobianInCDiff function returns the time derivative of the 3x18 spatial translation Jacobian in the control frame.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns the 3x18 time derivative of the translation Jacobian Matrix in the control frame.

Definition at line 1337 of file kinematics.cpp.

◆ GetRotationJacobianInB() [1/2]

Eigen::Matrix< double, 3, 3 > Kinematics::GetRotationJacobianInB	(	const LegType &	_leg,
		const BodyType &	_body,
		const double &	_theta_hy,
		const double &	_theta_hp,
		const double &	_theta_kp
	)

The GetRotationJacobianInB function returns the 3x3 Jacobian matrix for body angular velocities in the body(base)-frame for a given state.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_theta_hy	Hip yaw angle.
[in]	_theta_hp	Hip pitch angle.
[in]	_theta_kp	Knee pitch angle.

Returns: Returns the 3x3 rotation Jacobian Matrix relating body angular velocities to joint velocities.

Definition at line 1420 of file kinematics.cpp.

◆ GetRotationJacobianInB() [2/2]

Eigen::Matrix< double, 3, 12 > Kinematics::GetRotationJacobianInB	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 12, 1 > &	_q_r
	)

The GetRotationJacobianInB function returns the 3x3 Jacobian matrix for body angular velocities in the body(base)-frame for a given state.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q_r	Joint coordinates.

Returns: Returns the 3x12 rotation Jacobian Matrix relating body angular velocities to joint velocities.

Definition at line 1540 of file kinematics.cpp.

◆ GetRotationJacobianInW()

Eigen::Matrix< double, 3, 18 > Kinematics::GetRotationJacobianInW	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetRotationJacobianInW function returns the 3x18 spatial rotation Jacobian mapping generalized velocities to operational space twist of the body attached frame.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.

Returns: Returns the rotation Jacobian Matrix mapping from generalized velocities to the operational space (world-frame) twist of the body attached frame.

Definition at line 1611 of file kinematics.cpp.

◆ GetRotationJacobianInC()

Eigen::Matrix< double, 3, 18 > Kinematics::GetRotationJacobianInC	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetRotationJacobianInC function returns the 3x18 spatial rotation Jacobian mapping generalized velocities to control frame twist of the body attached frame.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.

Returns: Returns the rotation Jacobian Matrix mapping from generalized velocities to the control frame twist of the body attached frame.

Definition at line 1661 of file kinematics.cpp.

◆ GetRotationJacobianInBDiff() [1/2]

Eigen::Matrix< double, 3, 3 > Kinematics::GetRotationJacobianInBDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const double &	_theta_hy,
		const double &	_theta_hp,
		const double &	_theta_kp,
		const double &	_dot_theta_hy,
		const double &	_dot_theta_hp,
		const double &	_dot_theta_kp
	)

The GetRotationJacobianInBDiff function returns the time derivative of the 3x3 Rotation Jacobian matrix.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_theta_hy	Hip yaw angle.
[in]	_theta_hp	Hip pitch angle.
[in]	_theta_kp	Knee pitch angle.
[in]	_dot_theta_hy	Hip yaw rate.
[in]	_dot_theta_hp	Hip pitch rate.
[in]	_dot_theta_kp	Knee pitch rate.

Returns: Returns the 3x3 time derivative of the Rotation Jacobian Matrix.

Definition at line 1711 of file kinematics.cpp.

◆ GetRotationJacobianInBDiff() [2/2]

Eigen::Matrix< double, 3, 12 > Kinematics::GetRotationJacobianInBDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 12, 1 > &	_q_r,
		const Eigen::Matrix< double, 12, 1 > &	_dot_q_r
	)

The GetRotationJacobianDerivativeInB function returns the time derivative of the 3x12 Rotation Jacobian matrix.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q_r	Joint coordinates.
[in]	_dot_q_r	Joint velocities.

Returns: Returns the 3x12 time derivative of the Rotation Jacobian Matrix.

Definition at line 1822 of file kinematics.cpp.

◆ GetRotationJacobianInWDiff()

Eigen::Matrix< double, 3, 18 > Kinematics::GetRotationJacobianInWDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetRotationJacobianInWDiff function returns the time derivative of the 3x18 spatial Rotation Jacobian.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns the 3x18 time derivative of the Rotation Jacobian Matrix in the world frame.

Definition at line 1917 of file kinematics.cpp.

◆ GetRotationJacobianInCDiff()

Eigen::Matrix< double, 3, 18 > Kinematics::GetRotationJacobianInCDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetRotationJacobianInCDiff function returns the time derivative of the 3x18 control frame Rotation Jacobian.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns the 3x18 time derivative of the Rotation Jacobian Matrix in the control frame.

Definition at line 1991 of file kinematics.cpp.

◆ GetJacobianInW()

Eigen::Matrix< double, 6, 18 > Kinematics::GetJacobianInW	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetJacobianInW function returns the 6x18 spatial Jacobian mapping generalized velocities to operational space twist of the body attached frame.

Parameters

[in]	_leg	Leg type.
[in]	_q	Generalized coordinates.

Returns: Returns the spatial Jacobian Matrix mapping from generalized velocities to the operational space (world-frame) twist of the body attached frame.

Definition at line 2065 of file kinematics.cpp.

◆ GetJacobianInWDiff()

Eigen::Matrix< double, 6, 18 > Kinematics::GetJacobianInWDiff	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetJacobianInW function returns the time derivative of the 6x18 spatial Jacobian.

Parameters

[in]	_leg	Leg type.
[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns the time derivative of the spatial Jacobian Matrix.

Definition at line 2083 of file kinematics.cpp.

◆ GetContactJacobianInW()

Eigen::Matrix< double, Eigen::Dynamic, 18 > Kinematics::GetContactJacobianInW	(	std::vector< LegType > &	_legs,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetContactJacobianInW function returns the (3*n_c)x18 support Jacobian mapping reaction forces at the contact points to generalized coordinate space.

Parameters

[in]	_legs	A vector of leg types containing the contact points.
[in]	_q	Generalized coordinates.

Returns: Returns the contact Jacobian Matrix mapping reaction (contact) forces to generalized coordinate space.

Definition at line 2104 of file kinematics.cpp.

◆ GetContactJacobianInWDiff()

Eigen::Matrix< double, Eigen::Dynamic, 18 > Kinematics::GetContactJacobianInWDiff	(	std::vector< LegType > &	_legs,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetContactJacobianInWDiff function returns the time derivative of the (3*n_c)x18 support Jacobian.

Parameters

[in]	_legs	A vector of leg types containing the contact points.
[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns the time derivative of the contact Jacobian Matrix.

Definition at line 2156 of file kinematics.cpp.

◆ GetSwingJacobianInW()

Eigen::Matrix< double, Eigen::Dynamic, 18 > Kinematics::GetSwingJacobianInW	(	std::vector< LegType > &	_legs,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetSwingJacobianInW function returns the (3*n_s)x18 support Jacobian mapping swing foot velocities to generalized coordinate space. (n_s = 4 - n_c)

Parameters

[in]	_legs	A vector of leg types containing the swing legs.
[in]	_q	Generalized coordinates.

Returns: Returns the support Jacobian Matrix mapping swing foot velocities to generalized coordinate space.

Definition at line 2210 of file kinematics.cpp.

◆ GetSwingJacobianInWDiff()

Eigen::Matrix< double, Eigen::Dynamic, 18 > Kinematics::GetSwingJacobianInWDiff	(	std::vector< LegType > &	_legs,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetContactJacobianInWDiff function returns the time derivative of the (3*n_s)x18 support Jacobian. (n_s = 4 - n_c)

Parameters

[in]	_legs	A vector of leg types containing the swing legs.
[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns the time derivative of the support swing-leg Jacobian Matrix.

Definition at line 2259 of file kinematics.cpp.

◆ GetSingleBodyMassMatrix()

Eigen::Matrix< double, 18, 18 > Kinematics::GetSingleBodyMassMatrix	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetSingleBodyMassMatrix function returns the mass matrix for a single body in the system.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.

Returns: Returns a single body mass matrix as specified by leg and body type.

Definition at line 2309 of file kinematics.cpp.

◆ GetMassMatrix()

Eigen::Matrix< double, 18, 18 > Kinematics::GetMassMatrix ( const Eigen::Matrix< double, 18, 1 > & _q )

The GetMassMatrix function returns the mass matrix for the floating base system.

Parameters

[in] _q Generalized coordinates.

Returns: Returns an orthogonal mass matrix (n_q x n_q) for the floating base system.

Definition at line 2330 of file kinematics.cpp.

◆ GetSingleLegMassMatrix()

Eigen::Matrix< double, 3, 3 > Kinematics::GetSingleLegMassMatrix ( const Eigen::Matrix< double, 3, 1 > & _q )

Definition at line 2363 of file kinematics.cpp.

◆ GetSingleBodyCoriolisAndCentrifugalTerms()

Eigen::Matrix< double, 18, 1 > Kinematics::GetSingleBodyCoriolisAndCentrifugalTerms	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetSingleBodyCoriolisAndCentrifugalTerms function returns the coriolis and centrifugal terms for a single body in the system.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns a single body coriolis and centrifugal terms as specified by leg and body type.

Definition at line 2386 of file kinematics.cpp.

◆ GetCoriolisAndCentrifugalTerms()

Eigen::Matrix< double, 18, 1 > Kinematics::GetCoriolisAndCentrifugalTerms	(	const Eigen::Matrix< double, 18, 1 > &	_q,
		const Eigen::Matrix< double, 18, 1 > &	_u
	)

The GetCoriolisAndCentrifugalTerms function returns the coriolis and centrifugal terms for the floating base system.

Parameters

[in]	_q	Generalized coordinates.
[in]	_u	Generalized velocities.

Returns: Returns coriolis and centrifugal terms for the floating base system.

Definition at line 2419 of file kinematics.cpp.

◆ GetSingleLegCoriolisAndCentrifugalTerms()

Eigen::Matrix< double, 3, 1 > Kinematics::GetSingleLegCoriolisAndCentrifugalTerms	(	const Eigen::Matrix< double, 3, 1 > &	_q,
		const Eigen::Matrix< double, 3, 1 > &	_u
	)

Definition at line 2453 of file kinematics.cpp.

◆ GetSingleBodyGravitationalTerms()

Eigen::Matrix< double, 18, 1 > Kinematics::GetSingleBodyGravitationalTerms	(	const LegType &	_leg,
		const BodyType &	_body,
		const Eigen::Matrix< double, 18, 1 > &	_q
	)

The GetSingleBodyGravitationalTerms function returns the gravitational terms for a single body in the system.

Parameters

[in]	_leg	Leg type.
[in]	_body	Body type.
[in]	_q	Generalized coordinates.

Returns: Returns a single body gravitational terms as specified by leg and body type.

Definition at line 2488 of file kinematics.cpp.

◆ GetGravitationalTerms()

Eigen::Matrix< double, 18, 1 > Kinematics::GetGravitationalTerms ( const Eigen::Matrix< double, 18, 1 > & _q )

The GetGravitationalTerms function returns the gravitational terms for the floating base system.

Parameters

[in] _q Generalized coordinates.

Returns: Returns gravitational terms for the floating base system.

Definition at line 2543 of file kinematics.cpp.

◆ GetSingleLegGravitationalTerms()

Eigen::Matrix< double, 3, 1 > Kinematics::GetSingleLegGravitationalTerms ( const Eigen::Matrix< double, 3, 1 > & _q )

Definition at line 2578 of file kinematics.cpp.

◆ ValidateSolution() [1/2]

bool Kinematics::ValidateSolution ( const JointSpaceVector & _q_r )

The ValidateSolution function evaluates whether a set of joint angles is within joint limits.

Parameters

[in] _q_r Joint angles generated by the IK solver.

Returns: Evaluates true if IK solution is valid, and false if not.

Definition at line 2603 of file kinematics.cpp.

◆ ValidateSolution() [2/2]

bool Kinematics::ValidateSolution ( const Eigen::Matrix< double, 3, 1 > & _q_r )

Overloaded version of the ValidateSolution function, which evaluates whether a set of joint angles for a single leg is within the joint limits.

Parameters

[in] _q_r Joint angles for a single leg generated by the IK solver.

Returns: Evaluates true if the IK solution is valid, and false if not.

Definition at line 2622 of file kinematics.cpp.

◆ GetInertiaMatrix()

Eigen::Matrix< double, 3, 3 > Kinematics::GetInertiaMatrix	(	const double &	_I_XX,
		const double &	_I_YY,
		const double &	_I_ZZ,
		const double &	_I_XY,
		const double &	_I_XZ,
		const double &	_I_YZ
	)

private

The GetInertiaMatrix function returns the inertia matrix from the six inertial parameters.

Parameters

[in]	_I_XX	inertia about the x axis
[in]	_I_YY	inertia about the y axis
[in]	_I_ZZ	inertia about the z axis
[in]	_I_XY	inertia about the xy axis
[in]	_I_XZ	inertia about the xz axis
[in]	_I_YZ	inertia about the yz axis

Definition at line 2642 of file kinematics.cpp.

◆ GetBodyMass()

double Kinematics::GetBodyMass ( BodyType _body )

private

Definition at line 2663 of file kinematics.cpp.

◆ GetBodyInertia() [1/2]

Eigen::Matrix< double, 3, 3 > Kinematics::GetBodyInertia ( BodyType _body )

private

Definition at line 2705 of file kinematics.cpp.

◆ GetBodyInertia() [2/2]

Eigen::Matrix< double, 3, 3 > Kinematics::GetBodyInertia	(	BodyType	_body,
		LegType	_leg
	)

private

Definition at line 2747 of file kinematics.cpp.

◆ GetflOffset()

bool Kinematics::GetflOffset ( )

inline

Definition at line 664 of file kinematics.h.

◆ GetfrOffset()

bool Kinematics::GetfrOffset ( )

inline

Definition at line 666 of file kinematics.h.

◆ GetrlOffset()

bool Kinematics::GetrlOffset ( )

inline

Definition at line 668 of file kinematics.h.

◆ GetrrOffset()

bool Kinematics::GetrrOffset ( )

inline

Definition at line 670 of file kinematics.h.

◆ GetDistanceFromBaseToFrontLeftHipInB()

Eigen::Matrix<double, 3, 1> Kinematics::GetDistanceFromBaseToFrontLeftHipInB ( )

inline

Definition at line 672 of file kinematics.h.

◆ GetDistanceFromBaseToFrontRightHipInB()

Eigen::Matrix<double, 3, 1> Kinematics::GetDistanceFromBaseToFrontRightHipInB ( )

inline

Definition at line 674 of file kinematics.h.

◆ GetDistanceFromBaseToRearLeftHipInB()

Eigen::Matrix<double, 3, 1> Kinematics::GetDistanceFromBaseToRearLeftHipInB ( )

inline

Definition at line 676 of file kinematics.h.

◆ GetDistanceFromBaseToRearRightHipInB()

Eigen::Matrix<double, 3, 1> Kinematics::GetDistanceFromBaseToRearRightHipInB ( )

inline

Definition at line 678 of file kinematics.h.

Member Data Documentation

◆ min_angles

JointSpaceVector Kinematics::min_angles

private

Minimum joint limits.

Definition at line 681 of file kinematics.h.

◆ max_angles

JointSpaceVector Kinematics::max_angles

private

Maximum joint limits.

Definition at line 684 of file kinematics.h.

◆ positionBaseToFrontLeftInB

Vector3d Kinematics::positionBaseToFrontLeftInB

private

Position vector relating the base coordinates to the front left hip.

Definition at line 688 of file kinematics.h.

◆ positionBaseToFrontRightInB

Vector3d Kinematics::positionBaseToFrontRightInB

private

Position vector relating the base coordinates to the front right hip.

Definition at line 692 of file kinematics.h.

◆ positionBaseToRearLeftInB

Vector3d Kinematics::positionBaseToRearLeftInB

private

Position vector relating the base coordinates to the rear left hip.

Definition at line 696 of file kinematics.h.

◆ positionBaseToRearRightInB

Vector3d Kinematics::positionBaseToRearRightInB

private

Position vector relating the base coordinates to the rear right hip.

Definition at line 700 of file kinematics.h.

◆ L1

double Kinematics::L1

private

Hip link length.

Definition at line 703 of file kinematics.h.

◆ L2

double Kinematics::L2

private

Thigh (Femur) link length.

Definition at line 706 of file kinematics.h.

◆ L3

double Kinematics::L3

private

Leg (Fibula & Tibia) link length.

Definition at line 709 of file kinematics.h.

◆ LC1

double Kinematics::LC1

private

Hip yaw joint to hip CoM length.

Definition at line 712 of file kinematics.h.

◆ LC2

double Kinematics::LC2

private

Hip pitch joint to thigh CoM length.

Definition at line 715 of file kinematics.h.

◆ LC3

double Kinematics::LC3

private

Knee pitch joint to leg CoM length.

Definition at line 718 of file kinematics.h.

◆ flOffset

bool Kinematics::flOffset

private

Front Left offset.

Definition at line 721 of file kinematics.h.

◆ frOffset

bool Kinematics::frOffset

private

Front Right offset.

Definition at line 724 of file kinematics.h.

◆ rlOffset

bool Kinematics::rlOffset

private

Rear Left offset.

Definition at line 727 of file kinematics.h.

◆ rrOffset

bool Kinematics::rrOffset

private

Rear Right offset.

Definition at line 730 of file kinematics.h.

◆ M0

double Kinematics::M0

private

Body link mass.

Definition at line 733 of file kinematics.h.

◆ M1

double Kinematics::M1

private

Hip link mass.

Definition at line 736 of file kinematics.h.

◆ M2

double Kinematics::M2

private

Thigh link mass.

Definition at line 739 of file kinematics.h.

◆ M3

double Kinematics::M3

private

Leg link mass.

Definition at line 742 of file kinematics.h.

◆ I0

Eigen::Matrix<double, 3, 3> Kinematics::I0

private

Body link inertia matrix.

Definition at line 745 of file kinematics.h.

◆ I1_fl_rr

Eigen::Matrix<double, 3, 3> Kinematics::I1_fl_rr

private

Front Left & Rear Right Hip link inertia matrix.

Definition at line 748 of file kinematics.h.

◆ I1_fr_rl

Eigen::Matrix<double, 3, 3> Kinematics::I1_fr_rl

private

Front Right & Rear Left Hip link inertia matrix.

Definition at line 751 of file kinematics.h.

◆ I2

Eigen::Matrix<double, 3, 3> Kinematics::I2

private

Thigh link inertia matrix.

Definition at line 754 of file kinematics.h.

◆ I3

Eigen::Matrix<double, 3, 3> Kinematics::I3

private

Leg link inertia matrix.

Definition at line 757 of file kinematics.h.

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

catkin_ws/src/control/kinematics/include/kinematics/kinematics.h
catkin_ws/src/control/kinematics/src/kinematics.cpp

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ LegType

◆ BodyType

Constructor & Destructor Documentation

◆ Kinematics()

◆ ~Kinematics()

Member Function Documentation

◆ SolveForwardKinematics()

◆ SolveInverseKinematics()

◆ SolveSingleLegForwardKinematics() [1/3]

◆ SolveSingleLegForwardKinematics() [2/3]

◆ SolveSingleLegForwardKinematics() [3/3]

◆ SolveSingleLegHipToFootForwardKinematics()

◆ SolveSingleLegInverseKinematics() [1/2]

◆ SolveSingleLegInverseKinematics() [2/2]

◆ GetDhTransform()

◆ GetHipToBodyTransform()

◆ GetRotationMatrixWToB()

◆ GetRotationMatrixWToBDiff()

◆ GetRotationMatrixWToC()

◆ GetRotationMatrixWToCDiff()

◆ GetRotationMatrixCToB()

◆ GetRotationMatrixCToBDiff()

◆ GetPositionBaseToBodyInB()

◆ GetTranslationJacobianInB() [1/2]

◆ GetTranslationJacobianInB() [2/2]

◆ GetTranslationJacobianInW()

◆ GetTranslationJacobianInC()

◆ GetTranslationJacobianInBDiff() [1/2]

◆ GetTranslationJacobianInBDiff() [2/2]

◆ GetTranslationJacobianInWDiff()

◆ GetTranslationJacobianInCDiff()

◆ GetRotationJacobianInB() [1/2]

◆ GetRotationJacobianInB() [2/2]

◆ GetRotationJacobianInW()

◆ GetRotationJacobianInC()

◆ GetRotationJacobianInBDiff() [1/2]

◆ GetRotationJacobianInBDiff() [2/2]

◆ GetRotationJacobianInWDiff()

◆ GetRotationJacobianInCDiff()

◆ GetJacobianInW()

◆ GetJacobianInWDiff()

◆ GetContactJacobianInW()

◆ GetContactJacobianInWDiff()

◆ GetSwingJacobianInW()

◆ GetSwingJacobianInWDiff()

◆ GetSingleBodyMassMatrix()

◆ GetMassMatrix()

◆ GetSingleLegMassMatrix()

◆ GetSingleBodyCoriolisAndCentrifugalTerms()

◆ GetCoriolisAndCentrifugalTerms()

◆ GetSingleLegCoriolisAndCentrifugalTerms()

◆ GetSingleBodyGravitationalTerms()

◆ GetGravitationalTerms()

◆ GetSingleLegGravitationalTerms()

◆ ValidateSolution() [1/2]

◆ ValidateSolution() [2/2]

◆ GetInertiaMatrix()

◆ GetBodyMass()

◆ GetBodyInertia() [1/2]

◆ GetBodyInertia() [2/2]

◆ GetflOffset()

◆ GetfrOffset()

◆ GetrlOffset()

◆ GetrrOffset()

◆ GetDistanceFromBaseToFrontLeftHipInB()

◆ GetDistanceFromBaseToFrontRightHipInB()

◆ GetDistanceFromBaseToRearLeftHipInB()

◆ GetDistanceFromBaseToRearRightHipInB()

Member Data Documentation

◆ min_angles

◆ max_angles

◆ positionBaseToFrontLeftInB

◆ positionBaseToFrontRightInB

◆ positionBaseToRearLeftInB