Class robot_dart::robots::Ur3eHand¶
ClassList > robot_dart > robots > Ur3eHand
Inherits the following classes: robot_dart::robots::Ur3e
Public Functions¶
| Type | Name |
|---|---|
| Ur3eHand (size_t frequency=1000, const std::string & urdf="ur3e/ur3e_with_schunk_hand.urdf", const std::vector< std::pair< std::string, std::string > > & packages=('ur3e\_description', 'ur3e/ur3e\_description')) |
Public Functions inherited from robot_dart::robots::Ur3e¶
| Type | Name |
|---|---|
| Ur3e (size_t frequency=1000, const std::string & urdf="ur3e/ur3e.urdf", const std::vector< std::pair< std::string, std::string > > & packages=('ur3e\_description', 'ur3e/ur3e\_description')) |
|
| const sensor::ForceTorque & | ft_wrist () const |
Public Functions inherited from robot_dart::Robot¶
| Type | Name |
|---|---|
| Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) |
|
| Robot (const std::string & model_file, const std::string & robot_name="robot", bool is_urdf_string=false, bool cast_shadows=true) |
|
| Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name="robot", bool cast_shadows=true) |
|
| Eigen::VectorXd | acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | accelerations (const std::vector< std::string > & dof_names={}) const |
| std::vector< std::shared_ptr< control::RobotControl > > | active_controllers () const |
| std::string | actuator_type (const std::string & joint_name) const |
| std::vector< std::string > | actuator_types (const std::vector< std::string > & joint_names={}) const |
| void | add_body_mass (const std::string & body_name, double mass) |
| void | add_body_mass (size_t body_index, double mass) |
| void | add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) |
| void | add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) |
| void | add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) |
| void | add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) |
| void | add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) |
| bool | adjacent_colliding () const |
| Eigen::MatrixXd | aug_mass_matrix (const std::vector< std::string > & dof_names={}) const |
| Eigen::Isometry3d | base_pose () const |
| Eigen::Vector6d | base_pose_vec () const |
| Eigen::Vector6d | body_acceleration (const std::string & body_name) const |
| Eigen::Vector6d | body_acceleration (size_t body_index) const |
| size_t | body_index (const std::string & body_name) const |
| double | body_mass (const std::string & body_name) const |
| double | body_mass (size_t body_index) const |
| std::string | body_name (size_t body_index) const |
| std::vector< std::string > | body_names () const |
| dart::dynamics::BodyNode * | body_node (const std::string & body_name) |
| dart::dynamics::BodyNode * | body_node (size_t body_index) |
| Eigen::Isometry3d | body_pose (const std::string & body_name) const |
| Eigen::Isometry3d | body_pose (size_t body_index) const |
| Eigen::Vector6d | body_pose_vec (const std::string & body_name) const |
| Eigen::Vector6d | body_pose_vec (size_t body_index) const |
| Eigen::Vector6d | body_velocity (const std::string & body_name) const |
| Eigen::Vector6d | body_velocity (size_t body_index) const |
| bool | cast_shadows () const |
| void | clear_controllers () |
| void | clear_external_forces () |
| void | clear_internal_forces () |
| std::shared_ptr< Robot > | clone () const |
| std::shared_ptr< Robot > | clone_ghost (const std::string & ghost_name="ghost", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const |
| Eigen::Vector3d | com () const |
| Eigen::Vector6d | com_acceleration () const |
| Eigen::MatrixXd | com_jacobian (const std::vector< std::string > & dof_names={}) const |
| Eigen::MatrixXd | com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const |
| Eigen::Vector6d | com_velocity () const |
| Eigen::VectorXd | commands (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | constraint_forces (const std::vector< std::string > & dof_names={}) const |
| std::shared_ptr< control::RobotControl > | controller (size_t index) const |
| std::vector< std::shared_ptr< control::RobotControl > > | controllers () const |
| Eigen::VectorXd | coriolis_forces (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const |
| std::vector< double > | coulomb_coeffs (const std::vector< std::string > & dof_names={}) const |
| std::vector< double > | damping_coeffs (const std::vector< std::string > & dof_names={}) const |
| dart::dynamics::DegreeOfFreedom * | dof (const std::string & dof_name) |
| dart::dynamics::DegreeOfFreedom * | dof (size_t dof_index) |
| size_t | dof_index (const std::string & dof_name) const |
| const std::unordered_map< std::string, size_t > & | dof_map () const |
| std::string | dof_name (size_t dof_index) const |
| std::vector< std::string > | dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const |
| const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & | drawing_axes () const |
| Eigen::Vector6d | external_forces (const std::string & body_name) const |
| Eigen::Vector6d | external_forces (size_t body_index) const |
| void | fix_to_world () |
| bool | fixed () const |
| Eigen::VectorXd | force_lower_limits (const std::vector< std::string > & dof_names={}) const |
| void | force_position_bounds () |
| std::pair< Eigen::Vector6d, Eigen::Vector6d > | force_torque (size_t joint_index) const |
| Eigen::VectorXd | force_upper_limits (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | forces (const std::vector< std::string > & dof_names={}) const |
| bool | free () const |
| void | free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) |
| double | friction_coeff (const std::string & body_name) |
| double | friction_coeff (size_t body_index) |
| Eigen::Vector3d | friction_dir (const std::string & body_name) |
| Eigen::Vector3d | friction_dir (size_t body_index) |
| bool | ghost () const |
| Eigen::VectorXd | gravity_forces (const std::vector< std::string > & dof_names={}) const |
| Eigen::MatrixXd | inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const |
| Eigen::MatrixXd | inv_mass_matrix (const std::vector< std::string > & dof_names={}) const |
| Eigen::MatrixXd | jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const |
| Eigen::MatrixXd | jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const |
| dart::dynamics::Joint * | joint (const std::string & joint_name) |
| dart::dynamics::Joint * | joint (size_t joint_index) |
| size_t | joint_index (const std::string & joint_name) const |
| const std::unordered_map< std::string, size_t > & | joint_map () const |
| std::string | joint_name (size_t joint_index) const |
| std::vector< std::string > | joint_names () const |
| std::vector< std::string > | locked_dof_names () const |
| Eigen::MatrixXd | mass_matrix (const std::vector< std::string > & dof_names={}) const |
| std::vector< std::string > | mimic_dof_names () const |
| const std::string & | model_filename () const |
| const std::vector< std::pair< std::string, std::string > > & | model_packages () const |
| const std::string & | name () const |
| size_t | num_bodies () const |
| size_t | num_controllers () const |
| size_t | num_dofs () const |
| size_t | num_joints () const |
| std::vector< std::string > | passive_dof_names () const |
| std::vector< bool > | position_enforced (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | position_lower_limits (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | position_upper_limits (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | positions (const std::vector< std::string > & dof_names={}) const |
| void | reinit_controllers () |
| void | remove_all_drawing_axis () |
| void | remove_controller (const std::shared_ptr< control::RobotControl > & controller) |
| void | remove_controller (size_t index) |
| virtual void | reset () |
| void | reset_commands () |
| double | restitution_coeff (const std::string & body_name) |
| double | restitution_coeff (size_t body_index) |
| double | secondary_friction_coeff (const std::string & body_name) |
| double | secondary_friction_coeff (size_t body_index) |
| bool | self_colliding () const |
| void | set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) |
| void | set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) |
| void | set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) |
| void | set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) |
| void | set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) |
| void | set_base_pose (const Eigen::Isometry3d & tf) |
| void | set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) |
| void | set_body_mass (const std::string & body_name, double mass) |
| void | set_body_mass (size_t body_index, double mass) |
| void | set_body_name (size_t body_index, const std::string & body_name) |
| void | set_cast_shadows (bool cast_shadows=true) |
| void | set_color_mode (const std::string & color_mode) |
| void | set_color_mode (const std::string & color_mode, const std::string & body_name) |
| void | set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) |
| void | set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) |
| void | set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) |
| void | set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) |
| void | set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) |
| void | set_draw_axis (const std::string & body_name, double size=0.25) |
| void | set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) |
| void | set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) |
| void | set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) |
| void | set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) |
| void | set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) |
| void | set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) |
| void | set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) |
| void | set_friction_coeff (const std::string & body_name, double value) |
| void | set_friction_coeff (size_t body_index, double value) |
| void | set_friction_coeffs (double value) |
| void | set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) |
| void | set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) |
| void | set_ghost (bool ghost=true) |
| void | set_joint_name (size_t joint_index, const std::string & joint_name) |
| void | set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) |
| void | set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) |
| void | set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) |
| void | set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) |
| void | set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) |
| void | set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) |
| void | set_restitution_coeff (const std::string & body_name, double value) |
| void | set_restitution_coeff (size_t body_index, double value) |
| void | set_restitution_coeffs (double value) |
| void | set_secondary_friction_coeff (const std::string & body_name, double value) |
| void | set_secondary_friction_coeff (size_t body_index, double value) |
| void | set_secondary_friction_coeffs (double value) |
| void | set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) |
| void | set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) |
| void | set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) |
| void | set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) |
| void | set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) |
| void | set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) |
| dart::dynamics::SkeletonPtr | skeleton () |
| std::vector< double > | spring_stiffnesses (const std::vector< std::string > & dof_names={}) const |
| void | update (double t) |
| void | update_joint_dof_maps () |
| Eigen::VectorXd | vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const |
| Eigen::VectorXd | velocities (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | velocity_lower_limits (const std::vector< std::string > & dof_names={}) const |
| Eigen::VectorXd | velocity_upper_limits (const std::vector< std::string > & dof_names={}) const |
| virtual | ~Robot () |
Public Static Functions inherited from robot_dart::Robot¶
| Type | Name |
|---|---|
| std::shared_ptr< Robot > | create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name="box") |
| std::shared_ptr< Robot > | create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name="box") |
| std::shared_ptr< Robot > | create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name="ellipsoid") |
| std::shared_ptr< Robot > | create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type="free", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name="ellipsoid") |
Protected Attributes inherited from robot_dart::robots::Ur3e¶
| Type | Name |
|---|---|
| std::shared_ptr< sensor::ForceTorque > | _ft_wrist |
Protected Attributes inherited from robot_dart::Robot¶
| Type | Name |
|---|---|
| std::vector< std::pair< dart::dynamics::BodyNode *, double > > | _axis_shapes |
| bool | _cast_shadows |
| std::vector< std::shared_ptr< control::RobotControl > > | _controllers |
| std::unordered_map< std::string, size_t > | _dof_map |
| bool | _is_ghost |
| std::unordered_map< std::string, size_t > | _joint_map |
| std::string | _model_filename |
| std::vector< std::pair< std::string, std::string > > | _packages |
| std::string | _robot_name |
| dart::dynamics::SkeletonPtr | _skeleton |
Protected Functions inherited from robot_dart::robots::Ur3e¶
| Type | Name |
|---|---|
| virtual void | _post_addition (RobotDARTSimu *) override Function called by RobotDARTSimu object when adding the robot to the world. |
| virtual void | _post_removal (RobotDARTSimu *) override Function called by RobotDARTSimu object when removing the robot to the world. |
Protected Functions inherited from robot_dart::Robot¶
| Type | Name |
|---|---|
| dart::dynamics::Joint::ActuatorType | _actuator_type (size_t joint_index) const |
| std::vector< dart::dynamics::Joint::ActuatorType > | _actuator_types () const |
| std::string | _get_path (const std::string & filename) const |
| Eigen::MatrixXd | _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const |
| dart::dynamics::SkeletonPtr | _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) |
| Eigen::MatrixXd | _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const |
| virtual void | _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. |
| virtual void | _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. |
| void | _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) |
| void | _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) |
| void | _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) |
| void | _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) |
| void | _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn) |
Public Functions Documentation¶
function Ur3eHand¶
inline robot_dart::robots::Ur3eHand::Ur3eHand (
size_t frequency=1000,
const std::string & urdf="ur3e/ur3e_with_schunk_hand.urdf",
const std::vector< std::pair< std::string, std::string > > & packages=('ur3e_description', 'ur3e/ur3e_description')
)
The documentation for this class was generated from the following file robot_dart/robots/ur3e.hpp