Description of a segment. More...

#include <Segment.h>

Inheritance diagram for biorbd::rigidbody::Segment:

Public Member Functions
	Segment ()
	Construct a Segment.

	Segment (biorbd::rigidbody::Joints &model, const biorbd::utils::String &name, const biorbd::utils::String &parentName, const biorbd::utils::String &seqT, const biorbd::utils::String &seqR, const std::vector< biorbd::utils::Range > &QRanges, const std::vector< biorbd::utils::Range > &QDotRanges, const std::vector< biorbd::utils::Range > &QDDotRanges, const biorbd::rigidbody::SegmentCharacteristics &characteristics, const RigidBodyDynamics::Math::SpatialTransform &cor, int PF=-1)
	Construct a Segment. More...

	Segment (biorbd::rigidbody::Joints &model, const biorbd::utils::String &name, const biorbd::utils::String &parentName, const biorbd::utils::String &seqR, const std::vector< biorbd::utils::Range > &QRanges, const std::vector< biorbd::utils::Range > &QDotRanges, const std::vector< biorbd::utils::Range > &QDDotRanges, const biorbd::rigidbody::SegmentCharacteristics &characteristics, const RigidBodyDynamics::Math::SpatialTransform &cor, int PF=-1)
	Construct a Segment. More...

biorbd::rigidbody::Segment	DeepCopy () const
	Create a deep copy of Segment. More...

void	DeepCopy (const biorbd::rigidbody::Segment &other)
	Deep copy of Segment. More...

virtual	~Segment ()
	Destroy the class properly.

unsigned int	id () const
	Return the Segment index. More...

int	platformIdx () const
	Return the platform index. More...

const biorbd::utils::String &	seqT () const
	Return the translation sequence in text. More...

const biorbd::utils::String &	seqR () const
	Return the angle sequence in text. More...

const std::vector< biorbd::utils::Range > &	QRanges () const
	Return the ranges for all the dof, translations and rotations respectively. More...

const std::vector< biorbd::utils::Range > &	QDotRanges () const
	Return the ranges for all the dof velocity, translations and rotations respectively. More...

const std::vector< biorbd::utils::Range > &	QDDotRanges () const
	Return the ranges for all the dof acceleration, translations and rotations respectively. More...

unsigned int	nbDof () const
	Return the number of DoF of the segment. More...

unsigned int	nbDofTrans () const
	Return the number of translation DoF of the segment. More...

unsigned int	nbDofRot () const
	Return the number of rotation DoF of the segment. More...

unsigned int	nbQ () const
	Return the number of generalized coordinates. More...

unsigned int	nbQdot () const
	Return the number of generalized velocities. More...

unsigned int	nbQddot () const
	Return the number of generalized accelerations. More...

unsigned int	nbGeneralizedTorque () const
	Return the number of generalized torque. More...

unsigned int	getDofIdx (const biorbd::utils::String &dofName) const
	Return the index of a specified DoF. More...

const biorbd::utils::String &	nameDof (const unsigned int i) const
	Return the name of the specified DoF. More...

biorbd::utils::RotoTrans	localJCS () const
	Return the joint coordinate system (JCS) in the parent reference frame. More...

const biorbd::rigidbody::SegmentCharacteristics &	characteristics () const
	Return the segment characteristics. More...

bool	isRotationAQuaternion () const
	Return if the rotation DoF of this segment is a quaternion. More...

Public Member Functions inherited from biorbd::utils::Node
	Node ()
	Construct Node.

	Node (const biorbd::utils::Node &other)
	Construct Node from another node. More...

	Node (const biorbd::utils::String &name)
	Construct Node. More...

	Node (const biorbd::utils::String &name, const biorbd::utils::String &parentName)
	Construct Node. More...

virtual	~Node ()
	Destroy class properly.

void	DeepCopy (const biorbd::utils::Node &other)
	Deep copy of the node in another node. More...

void	setName (const biorbd::utils::String &name)
	Set the name of the node. More...

const biorbd::utils::String &	name () const
	Return the name of the node.

const biorbd::utils::String &	parent () const
	Return the parent name of the node.

void	setParent (const biorbd::utils::String &name)
	Set the parent name of the node. More...

biorbd::utils::NODE_TYPE	typeOfNode () const
	Return the type of node.

Protected Member Functions
void	setType ()
	Set the type of the segment.

void	setPF (int idx)
	Set the platform index.

void	setDofs (biorbd::rigidbody::Joints &model, const biorbd::utils::String &seqT, const biorbd::utils::String &seqR, const std::vector< biorbd::utils::Range > &QRanges, const std::vector< biorbd::utils::Range > &QDotRanges, const std::vector< biorbd::utils::Range > &QDDotRanges)
	Set the DoF. More...

void	setNumberOfDof (unsigned int nbTrans, unsigned int nbRot)
	Set the total number of DoF. More...

void	determineIfRotIsQuaternion (const biorbd::utils::String &seqR)
	Determines if DoF in rotation is a Quaternion. More...

void	setSequence (const biorbd::utils::String &seqT, const biorbd::utils::String &seqR)
	Set angle and translation sequences, adjust angle sequence and redeclare if is necessary. More...

void	fillSequence ()
	Fill the transation and rotation sequences. More...

void	str2numSequence (std::vector< unsigned int > &sequenceInteger, const biorbd::utils::String &sequenceText)
	Convert a text sequence to its number counterpart (x = 0, y = 1, z = 2, q = 3) More...

void	str2numSequence (const biorbd::utils::String &seqT, const biorbd::utils::String &seqR)
	Store the sequences. More...

virtual void	setJoints (biorbd::rigidbody::Joints &model)
	Function that adds the segment to the RBDL body set. More...

virtual void	setJointAxis ()
	Determine the rotation axis in relation to the requested sequence.

void	setDofCharacteristicsOnLastBody ()
	Set the DoF segment characteristics on the last body. More...

Protected Attributes
std::shared_ptr< int >	m_idxPF
	Platform index which acts on the segment.

std::shared_ptr< RigidBodyDynamics::Math::SpatialTransform >	m_cor
	Attitude of the segment in parent reference frame.

std::shared_ptr< biorbd::utils::String >	m_seqT
	Translation sequence.

std::shared_ptr< biorbd::utils::String >	m_seqR
	Euler rotation sequence.

std::shared_ptr< std::vector< biorbd::utils::Range > >	m_QRanges
	Minimum and maximum coordinate values that each dof should hold. This is only prescriptive and can be ignored when setting the GeneralizedCoordinates.

std::shared_ptr< std::vector< biorbd::utils::Range > >	m_QDotRanges
	Minimum and maximum velocity values that each dof should hold. This is only prescriptive and can be ignored when setting the GeneralizedVelocities.

std::shared_ptr< std::vector< biorbd::utils::Range > >	m_QDDotRanges
	Minimum and maximum acceleration values that each dof should hold. This is only prescriptive and can be ignored when setting the GeneralizedAccelerations.

std::shared_ptr< unsigned int >	m_nbDof
	Number of degrees of freedom.

std::shared_ptr< unsigned int >	m_nbQdot
	Number of generalized velocities.

std::shared_ptr< unsigned int >	m_nbQddot
	Number of generalized accelerations.

std::shared_ptr< unsigned int >	m_nbDofTrue
	Number of degrees of freedom including the extra DoF when there is a quaternion.

std::shared_ptr< unsigned int >	m_nbDofTrueOutside
	Number of degree of freedom read from the outside (Same as nDof except if Quaternion)

std::shared_ptr< unsigned int >	m_nbDofTrans
	Number of degrees of freedom in translation.

std::shared_ptr< unsigned int >	m_nbDofRot
	Number of degrees of freedom in rotation.

std::shared_ptr< unsigned int >	m_nbDofQuat
	Number of degrees of freedom in rotation if expressed in quaternion.

std::shared_ptr< bool >	m_isQuaternion
	If DoF in rotation is a Quaternion.

std::shared_ptr< std::vector< RigidBodyDynamics::Joint > >	m_dof
	Actual DoF: t1, t2, t3, r1, r2, r3; where the order depends on seqT and seqR.

std::shared_ptr< std::vector< unsigned int > >	m_idxDof
	Index of the parent segment.

std::shared_ptr< std::vector< unsigned int > >	m_sequenceTrans
	Translation sequence.

std::shared_ptr< std::vector< unsigned int > >	m_sequenceRot
	Euler rotation sequence.

std::shared_ptr< std::vector< biorbd::utils::String > >	m_nameDof
	To store the DoF names.

std::shared_ptr< std::vector< unsigned int > >	m_dofPosition
	Position in the x, y, and z sequence.

std::shared_ptr< biorbd::rigidbody::SegmentCharacteristics >	m_characteristics
	Non-used virtual segment; it allows to "save" the data and to avoid the use of multiple intermediate variables.

std::shared_ptr< std::vector< biorbd::rigidbody::SegmentCharacteristics > >	m_dofCharacteristics
	Variable containing the inertial data and other from each segment (on a 6DoF segment, 0 to 4 should be empty and 5 filled)

Protected Attributes inherited from biorbd::utils::Node
std::shared_ptr< biorbd::utils::String >	m_name
	The name of the node.

std::shared_ptr< biorbd::utils::String >	m_parentName
	The parent name of the node.

std::shared_ptr< biorbd::utils::NODE_TYPE >	m_typeOfNode
	The type of the node.

Detailed Description

Description of a segment.

Definition at line 23 of file Segment.h.

Constructor & Destructor Documentation

◆ Segment() [1/2]

biorbd::rigidbody::Segment::Segment	(	biorbd::rigidbody::Joints &	model,
		const biorbd::utils::String &	name,
		const biorbd::utils::String &	parentName,
		const biorbd::utils::String &	seqT,
		const biorbd::utils::String &	seqR,
		const std::vector< biorbd::utils::Range > &	QRanges,
		const std::vector< biorbd::utils::Range > &	QDotRanges,
		const std::vector< biorbd::utils::Range > &	QDDotRanges,
		const biorbd::rigidbody::SegmentCharacteristics &	characteristics,
		const RigidBodyDynamics::Math::SpatialTransform &	cor,
		int	PF = `-1`
	)

Construct a Segment.

Parameters

model	The joint model
name	The name of the segment
parentName	The name of the parent segment
seqT	Sequence of the translations
seqR	Angle sequence of the Euler rotations
QRanges	Ranges of the translations and rotations dof. The length of QRanges must be equal to length of translations and rotations
QDotRanges	Ranges of the translations and rotations dof velocity. The length of QDotRanges must be equal to length of translations and rotations
QDDotRanges	Ranges of the translations and rotations dof acceleration. The length of QDDotRanges must be equal to length of translations and rotations
characteristics	of the segment (mass, center of mass, inertia, etc.)
cor	Transformation in parent reference frame
PF	Platform index attached to the body (-1 means no force platform acts on the body)

Definition at line 44 of file Segment.cpp.

◆ Segment() [2/2]

biorbd::rigidbody::Segment::Segment	(	biorbd::rigidbody::Joints &	model,
		const biorbd::utils::String &	name,
		const biorbd::utils::String &	parentName,
		const biorbd::utils::String &	seqR,
		const std::vector< biorbd::utils::Range > &	QRanges,
		const std::vector< biorbd::utils::Range > &	QDotRanges,
		const std::vector< biorbd::utils::Range > &	QDDotRanges,
		const biorbd::rigidbody::SegmentCharacteristics &	characteristics,
		const RigidBodyDynamics::Math::SpatialTransform &	cor,
		int	PF = `-1`
	)

Construct a Segment.

Parameters

model	The joint model
name	The name of the segment
parentName	The name of the parent segment
seqR	Angle sequence of the Euler rotations
QRanges	Ranges of the translations and rotations dof. The length of QRanges must be equal to length of translations and rotations
QDotRanges	Ranges of the translations and rotations dof velocity. The length of QDotRanges must be equal to length of translations and rotations
QDDotRanges	Ranges of the translations and rotations dof acceleration. The length of QDDotRanges must be equal to length of translations and rotations
characteristics	of the segment (mass, center of mass, inertia, etc.)
cor	Transformation in parent reference frame
PF	Platform index attached to the body (-1 means no force platform acts on the body)

Definition at line 89 of file Segment.cpp.

Member Function Documentation

◆ characteristics()

const biorbd::rigidbody::SegmentCharacteristics & biorbd::rigidbody::Segment::characteristics ( ) const

Return the segment characteristics.

Returns: The segment characteristics

Definition at line 264 of file Segment.cpp.

◆ DeepCopy() [1/2]

biorbd::rigidbody::Segment biorbd::rigidbody::Segment::DeepCopy ( ) const

Create a deep copy of Segment.

Returns: Copy of Segment

Definition at line 135 of file Segment.cpp.

◆ DeepCopy() [2/2]

void biorbd::rigidbody::Segment::DeepCopy ( const biorbd::rigidbody::Segment & other )

Deep copy of Segment.

Parameters

other The Segment to copy

Definition at line 142 of file Segment.cpp.

◆ determineIfRotIsQuaternion()

void biorbd::rigidbody::Segment::determineIfRotIsQuaternion ( const biorbd::utils::String & seqR )

protected

Determines if DoF in rotation is a Quaternion.

Parameters

seqR	Cardan sequence to classify the DoF in rotation

If seqR is equal to "q" then it is a quaternion

Definition at line 304 of file Segment.cpp.

◆ fillSequence()

void biorbd::rigidbody::Segment::fillSequence ( )

protected

Fill the transation and rotation sequences.

Places the translations first, followed by the rotations in the asked order.

Definition at line 382 of file Segment.cpp.

◆ getDofIdx()

unsigned int biorbd::rigidbody::Segment::getDofIdx ( const biorbd::utils::String & dofName ) const

Return the index of a specified DoF.

Returns: The index of a specified DoF

Definition at line 489 of file Segment.cpp.

◆ id()

unsigned int biorbd::rigidbody::Segment::id ( ) const

Return the Segment index.

Returns: The Segment index

Definition at line 190 of file Segment.cpp.

◆ isRotationAQuaternion()

bool biorbd::rigidbody::Segment::isRotationAQuaternion ( ) const

Return if the rotation DoF of this segment is a quaternion.

Returns: If the rotation DoF of this segment is a quaternion

Definition at line 181 of file Segment.cpp.

◆ localJCS()

biorbd::utils::RotoTrans biorbd::rigidbody::Segment::localJCS ( ) const

Return the joint coordinate system (JCS) in the parent reference frame.

Returns: The joint coordinate system in the parent reference frame

Definition at line 261 of file Segment.cpp.

◆ nameDof()

const biorbd::utils::String & biorbd::rigidbody::Segment::nameDof ( const unsigned int i ) const

Return the name of the specified DoF.

Returns: The name of the specified DoF

Definition at line 227 of file Segment.cpp.

◆ nbDof()

unsigned int biorbd::rigidbody::Segment::nbDof ( ) const

Return the number of DoF of the segment.

Returns: The number of Dof of the segment

Definition at line 203 of file Segment.cpp.

◆ nbDofRot()

unsigned int biorbd::rigidbody::Segment::nbDofRot ( ) const

Return the number of rotation DoF of the segment.

Returns: The number of rotation DoF of the segment

Definition at line 209 of file Segment.cpp.

◆ nbDofTrans()

unsigned int biorbd::rigidbody::Segment::nbDofTrans ( ) const

Return the number of translation DoF of the segment.

Returns: The number of translation DoF of the segment

Definition at line 206 of file Segment.cpp.

◆ nbGeneralizedTorque()

unsigned int biorbd::rigidbody::Segment::nbGeneralizedTorque ( ) const

Return the number of generalized torque.

Returns: The number of generalized torque

This value is equal to nbQddot

Definition at line 200 of file Segment.cpp.

◆ nbQ()

unsigned int biorbd::rigidbody::Segment::nbQ ( ) const

Return the number of generalized coordinates.

Returns: The number of generalized coordinates

Definition at line 212 of file Segment.cpp.

◆ nbQddot()

unsigned int biorbd::rigidbody::Segment::nbQddot ( ) const

Return the number of generalized accelerations.

Returns: The number of generalized accelerations

Definition at line 218 of file Segment.cpp.

◆ nbQdot()

unsigned int biorbd::rigidbody::Segment::nbQdot ( ) const

Return the number of generalized velocities.

Returns: The number of generalized velocities

Definition at line 215 of file Segment.cpp.

◆ platformIdx()

int biorbd::rigidbody::Segment::platformIdx ( ) const

Return the platform index.

Returns: The platform index

Definition at line 197 of file Segment.cpp.

◆ QDDotRanges()

const std::vector< biorbd::utils::Range > & biorbd::rigidbody::Segment::QDDotRanges ( ) const

Return the ranges for all the dof acceleration, translations and rotations respectively.

Returns: The ranges for all the dofa acceleration, translations and rotations respectively

Definition at line 256 of file Segment.cpp.

◆ QDotRanges()

const std::vector< biorbd::utils::Range > & biorbd::rigidbody::Segment::QDotRanges ( ) const

Return the ranges for all the dof velocity, translations and rotations respectively.

Returns: The ranges for all the dof velocity, translations and rotations respectively

Definition at line 250 of file Segment.cpp.

◆ QRanges()

const std::vector< biorbd::utils::Range > & biorbd::rigidbody::Segment::QRanges ( ) const

Return the ranges for all the dof, translations and rotations respectively.

Returns: The ranges for all the dof, translations and rotations respectively

Definition at line 244 of file Segment.cpp.

◆ seqR()

const biorbd::utils::String & biorbd::rigidbody::Segment::seqR ( ) const

Return the angle sequence in text.

Returns: The angle sequence in text

Definition at line 238 of file Segment.cpp.

◆ seqT()

const biorbd::utils::String & biorbd::rigidbody::Segment::seqT ( ) const

Return the translation sequence in text.

Returns: The translation sequence in text

Definition at line 233 of file Segment.cpp.

◆ setDofCharacteristicsOnLastBody()

void biorbd::rigidbody::Segment::setDofCharacteristicsOnLastBody ( )

protected

Set the DoF segment characteristics on the last body.

The idea is that since a segment is described by all of its DoF, the inertia and masses must be put on the last body

Definition at line 395 of file Segment.cpp.

◆ setDofs()

void biorbd::rigidbody::Segment::setDofs	(	biorbd::rigidbody::Joints &	model,
		const biorbd::utils::String &	seqT,
		const biorbd::utils::String &	seqR,
		const std::vector< biorbd::utils::Range > &	QRanges,
		const std::vector< biorbd::utils::Range > &	QDotRanges,
		const std::vector< biorbd::utils::Range > &	QDDotRanges
	)

protected

Set the DoF.

Parameters

model	The joint model
seqT	Sequence of the translations
seqR	Angle sequence of the Euler rotations
QRanges	Ranges of the translations and rotations dof. The length of QRanges must be equal to length of translations and rotations
QDotRanges	Ranges of the translations and rotations dof velocity. The length of QDotRanges must be equal to length of translations and rotations
QDDotRanges	Ranges of the translations and rotations dof acceleration. The length of QDDotRanges must be equal to length of translations and rotations

Definition at line 268 of file Segment.cpp.

◆ setJoints()

void biorbd::rigidbody::Segment::setJoints ( biorbd::rigidbody::Joints & model )

protectedvirtual

Function that adds the segment to the RBDL body set.

Parameters

model The joint model

Definition at line 444 of file Segment.cpp.

◆ setNumberOfDof()

void biorbd::rigidbody::Segment::setNumberOfDof	(	unsigned int	nbTrans,
		unsigned int	nbRot
	)

protected

Set the total number of DoF.

Parameters

nbTrans	Number of translation DoF
nbRot	Number of rotation DoF

Definition at line 355 of file Segment.cpp.

◆ setSequence()

void biorbd::rigidbody::Segment::setSequence	(	const biorbd::utils::String &	seqT,
		const biorbd::utils::String &	seqR
	)

protected

Set angle and translation sequences, adjust angle sequence and redeclare if is necessary.

Parameters

seqT	Sequence of the translations
seqR	Angle sequence of the Euler rotations

Definition at line 377 of file Segment.cpp.

◆ str2numSequence() [1/2]

void biorbd::rigidbody::Segment::str2numSequence	(	const biorbd::utils::String &	seqT,
		const biorbd::utils::String &	seqR
	)

protected

Store the sequences.

Parameters

seqT	Sequence of the translations
seqR	Angle sequence of the Euler rotations

Definition at line 311 of file Segment.cpp.

◆ str2numSequence() [2/2]

void biorbd::rigidbody::Segment::str2numSequence	(	std::vector< unsigned int > &	sequenceInteger,
		const biorbd::utils::String &	sequenceText
	)

protected

Convert a text sequence to its number counterpart (x = 0, y = 1, z = 2, q = 3)

Parameters

sequenceInteger	Initialized vector into which the results should be placed in
sequenceText	The sequence to convert

Definition at line 337 of file Segment.cpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Segment() [1/2]

◆ Segment() [2/2]

Member Function Documentation

◆ characteristics()

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ determineIfRotIsQuaternion()

◆ fillSequence()

◆ getDofIdx()

◆ id()

◆ isRotationAQuaternion()

◆ localJCS()

◆ nameDof()

◆ nbDof()

◆ nbDofRot()

◆ nbDofTrans()

◆ nbGeneralizedTorque()

◆ nbQ()

◆ nbQddot()

◆ nbQdot()

◆ platformIdx()

◆ QDDotRanges()

◆ QDotRanges()

◆ QRanges()

◆ seqR()

◆ seqT()

◆ setDofCharacteristicsOnLastBody()

◆ setDofs()

◆ setJoints()

◆ setNumberOfDof()

◆ setSequence()

◆ str2numSequence() [1/2]

◆ str2numSequence() [2/2]