Class representing a Robot in MuJoCo. More...

#include <robot.h>

Inheritance diagram for arl::mujoco::Robot:

Collaboration diagram for arl::mujoco::Robot:

Public Member Functions
	Robot (const std::shared_ptr< mujoco::Model > &model, const std::string &name)
	The default constructor. More...

	~Robot ()

void	waitNextCycle ()
	Waits for the next cycle of the control loop. More...

bool	isOk ()
	Returns if the robot hardware is ok and operable. Should be implemented according to the robot in use. More...

void	getJointPosition (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint positions from the robot using Eigen. More...

void	getJointPosition (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint positions to the robot using KDL. More...

void	getJointVelocity (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using Eigen. More...

void	setJointPosition (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint positions to the robot using Eigen. More...

Public Member Functions inherited from arl::robot::Robot
	Robot ()
	Empty constructor. More...

	Robot (std::shared_ptr< Model > m, const std::string &name="Unnamed")
	Default constructor. More...

virtual void	setJointPosition (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint positions to the robot using KDL. More...

virtual void	setJointPosition (const arma::vec &input, const int chain_index=-1)
	Sends joint positions to the robot using Armadillo. More...

virtual void	setJointTrajectory (const KDL::JntArray &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using KDL. More...

virtual void	setJointTrajectory (const arma::vec &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using Armadillo. More...

virtual void	setJointTrajectory (const Eigen::VectorXd &input, double duration, const int chain_index=-1)
	Sends joint trajectories to the robot using Eigen. More...

virtual void	setJointVelocity (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint velocities to the robot using KDL. More...

virtual void	setJointVelocity (const arma::vec &input, const int chain_index=-1)
	Sends joint velocities to the robot using Armadillo. More...

virtual void	setJointVelocity (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint velocities to the robot using Eigen. More...

virtual void	setJointTorque (const KDL::JntArray &input, const int chain_index=-1)
	Sends joint velocities to the robot using KDL. More...

virtual void	setJointTorque (const arma::vec &input, const int chain_index=-1)
	Sends joint torques to the robot using Armadillo. More...

virtual void	setJointTorque (const Eigen::VectorXd &input, const int chain_index=-1)
	Sends joint torques to the robot using Eigen. More...

virtual void	setTaskPose (const KDL::Frame &input, const unsigned int chain_index=0)
	Sends joint torques to the robot using KDL. More...

virtual void	setTaskPose (const arma::mat &input, const unsigned int chain_index=0)
	Sends Cartesian pose to the robot using Armadillo. More...

virtual void	setTaskPose (const Eigen::MatrixXd &input, const unsigned int chain_index=0)
	Sends Cartesian pose to the robot using Eigen. More...

virtual void	setCartStiffness (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartStiffness (const arma::vec &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartStiffness (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends the cartesian stiffness for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const arma::vec &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setCartDamping (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends the cartesian damping for robots which provide Cartesian Impedance controller. More...

virtual void	setTwist (const KDL::Twist &input, const unsigned int chain_index=0)

virtual void	setTwist (const arma::vec &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using Armadillo. More...

virtual void	setTwist (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using Eigen. More...

virtual void	setWrench (const KDL::Wrench &input, const unsigned int chain_index=0)
	Sends Cartesian velocity to the robot using KDL. More...

virtual void	setWrench (const arma::vec &input, const unsigned int chain_index=0)
	Sends Cartesian force/torque to the robot using Armadillo. More...

virtual void	setWrench (const Eigen::VectorXd &input, const unsigned int chain_index=0)
	Sends Cartesian force/torque to the robot using Eigen. More...

virtual void	getJointPosition (arma::vec &output, const int chain_index=-1)
	Reads the current joint positions from the robot using Armadillo. More...

virtual void	getJointVelocity (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using KDL. More...

virtual void	getJointVelocity (arma::vec &output, const int chain_index=-1)
	Reads the current joint velocities from the robot using Armadillo. More...

virtual void	getJointTorque (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint torques from the robot using KDL. More...

virtual void	getJointTorque (arma::vec &output, const int chain_index=-1)
	Reads the current joint torques from the robot using Armadillo. More...

virtual void	getJointTorque (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint torques from the robot using Eigen. More...

virtual void	getJointExternalTorque (KDL::JntArray &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using KDL. More...

virtual void	getJointExternalTorque (arma::vec &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using Armadillo. More...

virtual void	getJointExternalTorque (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current external joint torques from the robot using Eigen. More...

virtual void	getJointStiffness (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using KDL. More...

virtual void	getJointStiffness (arma::vec &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using Armadillo. More...

virtual void	getJointStiffness (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint stiffness from the robot using Eigen. More...

virtual void	getJointDamping (KDL::JntArray &output, const int chain_index=-1)
	Reads the current joint damping from the robot using KDL. More...

virtual void	getJointDamping (arma::vec &output, const int chain_index=-1)
	Reads the current joint damping from the robot using Armadillo. More...

virtual void	getJointDamping (Eigen::VectorXd &output, const int chain_index=-1)
	Reads the current joint damping from the robot using Eigen. More...

virtual void	getTaskPose (KDL::Frame &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using KDL. More...

virtual void	getTaskPose (arma::mat &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using Armadillo. More...

virtual void	getTaskPose (Eigen::MatrixXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian pose from the robot using Eigen. More...

virtual void	getTaskPosition (KDL::Vector &output, const unsigned int chain_index=0)
	Reads the current Cartesian Position from the robot using KDL. More...

virtual void	getTaskPosition (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian position from the robot using Armadillo. More...

virtual void	getTaskPosition (Eigen::Vector3d &output, const unsigned int chain_index=0)
	Reads the current joint positions from the robot using Eigen. More...

virtual void	getTaskOrientation (KDL::Rotation &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using KDL. More...

virtual void	getTaskOrientation (arma::mat &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using Armadillo. More...

virtual void	getTaskOrientation (Eigen::Matrix3d &output, const unsigned int chain_index=0)
	Reads the current Cartesian orientation (Rotation matrix) from the robot using Eigen. More...

virtual void	getTwist (KDL::Twist &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using KDL. More...

virtual void	getTwist (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using Armadillo. More...

virtual void	getTwist (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian velocity from the robot using Eigen. More...

virtual void	getWrench (KDL::Wrench &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using KDL. More...

virtual void	getWrench (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using Armadillo. More...

virtual void	getWrench (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian force/torque from the robot using Eigen. More...

virtual void	getExternalWrench (KDL::Wrench &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using KDL. More...

virtual void	getExternalWrench (arma::vec &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using Armadillo. More...

virtual void	getExternalWrench (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current external Cartesian force/torque from the robot using Eigen. More...

virtual void	getTaskStiffness (KDL::JntArray &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using KDL. More...

virtual void	getTaskStiffness (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using Armadillo. More...

virtual void	getTaskStiffness (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian stiffness from the robot using Eigen. More...

virtual void	getTaskDamping (KDL::JntArray &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping from the robot using KDL. More...

virtual void	getTaskDamping (arma::vec &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping rom the robot using Armadillo. More...

virtual void	getTaskDamping (Eigen::VectorXd &output, const unsigned int chain_index=0)
	Reads the current Cartesian damping from the robot using Eigen. More...

virtual void	getJacobian (KDL::Jacobian &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using KDL. More...

virtual void	getJacobian (arma::mat &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using Armadillo. More...

virtual void	getJacobian (Eigen::MatrixXd &output, const unsigned int chain_index=0)
	Reads the current base Jacobian matrix from the robot using Eigen. More...

virtual void	getMassMatrix (KDL::Frame &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	getMassMatrix (arma::mat &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	getMassMatrix (Eigen::MatrixXd &output, const int chain_index=0)
	Reads the current mass matrix from the robot. More...

virtual void	stop ()

virtual void	setMode (Mode mode)
	Sets the mode of the robot. More...

virtual void	measure ()

template<typename T >
void	getJointVelocityGeneric (T &output, const int chain_index=-1)
	Reads the joint velocity using the derivative of the position (previous and current position) More...

template<typename T >
void	setJointVelocityGeneric (T &input, const int chain_index=-1)
	Reads the joint velocity by integrating the position (previous and current position) More...

Public Attributes
mjData *	data

mjModel *	mj_model

Public Attributes inherited from arl::robot::Robot
arma::vec	joint_pos_prev
	Stores the previous joint position used by arl::robot::setJointPositionGeneric. More...

double	cycle
	The control cycle of the robot. More...

std::shared_ptr< Model >	model
	A pointer to the Model that this Robot is using. More...

std::string	robot_name
	The name of the robot. E.g. "KUKA LWR4". More...

std::string	alias
	The alias of the robot, which is the name in lower case without spaces. E.g. "kuka_lwr4". More...

Mode	mode
	The current Mode of the robot. More...

Additional Inherited Members
Protected Member Functions inherited from arl::robot::Robot
void	throwFunctionIsNotImplemented (std::string function_name)

Protected Attributes inherited from arl::robot::Robot
std::vector< State >	state
	The current state of the robot. More...

Detailed Description

Class representing a Robot in MuJoCo.

Constructor & Destructor Documentation

arl::mujoco::Robot::Robot	(	const std::shared_ptr< mujoco::Model > &	model,
		const std::string &	name
	)

The default constructor.

Parameters

model	A MuJoCo Model
name	The name of the robot

arl::mujoco::Robot::~Robot ( )

Member Function Documentation

void arl::mujoco::Robot::getJointPosition	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint positions from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

void arl::mujoco::Robot::getJointPosition	(	KDL::JntArray &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint positions to the robot using KDL.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

void arl::mujoco::Robot::getJointVelocity	(	Eigen::VectorXd &	output,
		const int	chain_index = `-1`
	)

virtual

Reads the current joint velocities from the robot using Eigen.

Parameters

output	The output given by the robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

bool arl::mujoco::Robot::isOk ( )

virtual

Returns if the robot hardware is ok and operable. Should be implemented according to the robot in use.

Returns: True if the robot haven't returns any errors. False otherwise.

Implements arl::robot::Robot.

void arl::mujoco::Robot::setJointPosition	(	const Eigen::VectorXd &	input,
		const int	chain_index = `-1`
	)

virtual

Sends joint positions to the robot using Eigen.

Parameters

input	The input for sending to robot
chain_index	The index of the robots chain. Defaults to 0.

Reimplemented from arl::robot::Robot.

void arl::mujoco::Robot::waitNextCycle ( )

virtual

Waits for the next cycle of the control loop.

In the case of a MuJoCo Robot it reades the simulation time and moves MuJoCo simulation one time step ahead. Use it at each control loop as in real robots.

Implements arl::robot::Robot.

Member Data Documentation

mjData* arl::mujoco::Robot::data

mjModel* arl::mujoco::Robot::mj_model

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation