Quadruped< T > Class Template Reference

#include <Quadruped.h>

Inheritance diagram for Quadruped< T >:

Collaboration diagram for Quadruped< T >:

Public Member Functions
FloatingBaseModel< T >	buildModel ()
bool	buildModel (FloatingBaseModel< T > &model)
std::vector< ActuatorModel< T > >	buildActuatorModels ()
Vec3< T >	getHipLocation (int leg)

Static Public Member Functions
static T	getSideSign (int leg)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW RobotType	_robotType
T	_bodyLength
T	_bodyWidth
T	_bodyHeight
T	_bodyMass
T	_abadGearRatio
T	_hipGearRatio
T	_kneeGearRatio
T	_abadLinkLength
T	_hipLinkLength
T	_kneeLinkLength
T	_maxLegLength
T	_motorKT
T	_motorR
T	_batteryV
T	_motorTauMax
T	_jointDamping
T	_jointDryFriction
SpatialInertia< T >	_abadInertia
SpatialInertia< T >	_hipInertia
SpatialInertia< T >	_kneeInertia
SpatialInertia< T >	_abadRotorInertia
SpatialInertia< T >	_hipRotorInertia
SpatialInertia< T >	_kneeRotorInertia
SpatialInertia< T >	_bodyInertia
Vec3< T >	_abadLocation
Vec3< T >	_abadRotorLocation
Vec3< T >	_hipLocation
Vec3< T >	_hipRotorLocation
Vec3< T >	_kneeLocation
Vec3< T >	_kneeRotorLocation

Detailed Description

template<typename T>
class Quadruped< T >

Representation of a quadruped robot's physical properties.

When viewed from the top, the quadruped's legs are:

FRONT 2 1 RIGHT 4 3 BACK

Definition at line 56 of file Quadruped.h.

Member Function Documentation

template<typename T >

std::vector< ActuatorModel< T > > Quadruped< T >::buildActuatorModels

(

)

Definition at line 225 of file Quadruped.cpp.

                                                              {
  std::vector<ActuatorModel<T>> models;
  models.emplace_back(_abadGearRatio, _motorKT, _motorR, _batteryV,
                      _jointDamping, _jointDryFriction, _motorTauMax);
  models.emplace_back(_hipGearRatio, _motorKT, _motorR, _batteryV,
                      _jointDamping, _jointDryFriction, _motorTauMax);
  models.emplace_back(_kneeGearRatio, _motorKT, _motorR, _batteryV,
                      _jointDamping, _jointDryFriction, _motorTauMax);
  return models;
}

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template<typename T >

FloatingBaseModel< T > Quadruped< T >::buildModel

(

)

Build a FloatingBaseModel of the quadruped

Definition at line 113 of file Quadruped.cpp.

References FloatingBaseModel< T >::addBase(), FloatingBaseModel< T >::addBody(), FloatingBaseModel< T >::addGroundContactBoxPoints(), FloatingBaseModel< T >::addGroundContactPoint(), spatial::createSXform(), FloatingBaseModel< T >::setGravity(), ori::X, ori::Y, and ori::Z.

                                              {
  FloatingBaseModel<T> model;

  // we assume the cheetah's body (not including rotors) can be modeled as a
  // uniformly distributed box.
  Vec3<T> bodyDims(_bodyLength, _bodyWidth, _bodyHeight);
  // model.addBase(_bodyMass, Vec3<T>(0,0,0), rotInertiaOfBox(_bodyMass,
  // bodyDims));
  model.addBase(_bodyInertia);
  // add contact for the cheetah's body
  model.addGroundContactBoxPoints(5, bodyDims);

  const int baseID = 5;
  int bodyID = baseID;
  T sideSign = -1;

  Mat3<T> I3 = Mat3<T>::Identity();

  // loop over 4 legs
  for (int legID = 0; legID < 4; legID++) {
    // Ab/Ad joint
    //  int addBody(const SpatialInertia<T>& inertia, const SpatialInertia<T>&
    //  rotorInertia, T gearRatio,
    //              int parent, JointType jointType, CoordinateAxis jointAxis,
    //              const Mat6<T>& Xtree, const Mat6<T>& Xrot);
    bodyID++;
    Mat6<T> xtreeAbad = createSXform(I3, withLegSigns<T>(_abadLocation, legID));
    Mat6<T> xtreeAbadRotor =
        createSXform(I3, withLegSigns<T>(_abadRotorLocation, legID));

    if (sideSign < 0) {
      model.addBody(_abadInertia.flipAlongAxis(CoordinateAxis::Y),
                    _abadRotorInertia.flipAlongAxis(CoordinateAxis::Y),
                    _abadGearRatio, baseID, JointType::Revolute,
                    CoordinateAxis::X, xtreeAbad, xtreeAbadRotor);
    } else {
      model.addBody(_abadInertia, _abadRotorInertia, _abadGearRatio, baseID,
                    JointType::Revolute, CoordinateAxis::X, xtreeAbad,
                    xtreeAbadRotor);
    }

    // Hip Joint
    bodyID++;
    Mat6<T> xtreeHip =
        createSXform(coordinateRotation<T>(CoordinateAxis::Z, T(M_PI)),
                     withLegSigns<T>(_hipLocation, legID));
    Mat6<T> xtreeHipRotor =
        createSXform(coordinateRotation<T>(CoordinateAxis::Z, T(M_PI)),
                     withLegSigns<T>(_hipRotorLocation, legID));
    if (sideSign < 0) {
      model.addBody(_hipInertia.flipAlongAxis(CoordinateAxis::Y),
                    _hipRotorInertia.flipAlongAxis(CoordinateAxis::Y),
                    _hipGearRatio, bodyID - 1, JointType::Revolute,
                    CoordinateAxis::Y, xtreeHip, xtreeHipRotor);
    } else {
      model.addBody(_hipInertia, _hipRotorInertia, _hipGearRatio, bodyID - 1,
                    JointType::Revolute, CoordinateAxis::Y, xtreeHip,
                    xtreeHipRotor);
    }

    // add knee ground contact point
    model.addGroundContactPoint(bodyID, Vec3<T>(0, 0, -_hipLinkLength));

    // Knee Joint
    bodyID++;
    Mat6<T> xtreeKnee = createSXform(I3, _kneeLocation);
    Mat6<T> xtreeKneeRotor = createSXform(I3, _kneeRotorLocation);
    if (sideSign < 0) {
      model.addBody(_kneeInertia.flipAlongAxis(CoordinateAxis::Y),
                    _kneeRotorInertia.flipAlongAxis(CoordinateAxis::Y),
                    _kneeGearRatio, bodyID - 1, JointType::Revolute,
                    CoordinateAxis::Y, xtreeKnee, xtreeKneeRotor);
    } else {
      model.addBody(_kneeInertia, _kneeRotorInertia, _kneeGearRatio, bodyID - 1,
                    JointType::Revolute, CoordinateAxis::Y, xtreeKnee,
                    xtreeKneeRotor);
    }

    // add foot
    model.addGroundContactPoint(bodyID, Vec3<T>(0, 0, -_kneeLinkLength), true);

    sideSign *= -1;
  }

  Vec3<T> g(0, 0, -9.81);
  model.setGravity(g);

  return model;
}

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template<typename T>

bool Quadruped< T >::buildModel

(

FloatingBaseModel< T > &

model

)

Build a FloatingBaseModel of the quadruped

Definition at line 21 of file Quadruped.cpp.

References FloatingBaseModel< T >::addBase(), FloatingBaseModel< T >::addBody(), FloatingBaseModel< T >::addGroundContactBoxPoints(), FloatingBaseModel< T >::addGroundContactPoint(), spatial::createSXform(), FloatingBaseModel< T >::setGravity(), ori::X, ori::Y, and ori::Z.

                                                         {
  // we assume the cheetah's body (not including rotors) can be modeled as a
  // uniformly distributed box.
  Vec3<T> bodyDims(_bodyLength, _bodyWidth, _bodyHeight);
  // model.addBase(_bodyMass, Vec3<T>(0,0,0), rotInertiaOfBox(_bodyMass,
  // bodyDims));
  model.addBase(_bodyInertia);
  // add contact for the cheetah's body
  model.addGroundContactBoxPoints(5, bodyDims);

  const int baseID = 5;
  int bodyID = baseID;
  T sideSign = -1;

  Mat3<T> I3 = Mat3<T>::Identity();

  // loop over 4 legs
  for (int legID = 0; legID < 4; legID++) {
    // Ab/Ad joint
    //  int addBody(const SpatialInertia<T>& inertia, const SpatialInertia<T>&
    //  rotorInertia, T gearRatio,
    //              int parent, JointType jointType, CoordinateAxis jointAxis,
    //              const Mat6<T>& Xtree, const Mat6<T>& Xrot);
    bodyID++;
    Mat6<T> xtreeAbad = createSXform(I3, withLegSigns<T>(_abadLocation, legID));
    Mat6<T> xtreeAbadRotor =
        createSXform(I3, withLegSigns<T>(_abadRotorLocation, legID));

    if (sideSign < 0) {
      model.addBody(_abadInertia.flipAlongAxis(CoordinateAxis::Y),
                    _abadRotorInertia.flipAlongAxis(CoordinateAxis::Y),
                    _abadGearRatio, baseID, JointType::Revolute,
                    CoordinateAxis::X, xtreeAbad, xtreeAbadRotor);
    } else {
      model.addBody(_abadInertia, _abadRotorInertia, _abadGearRatio, baseID,
                    JointType::Revolute, CoordinateAxis::X, xtreeAbad,
                    xtreeAbadRotor);
    }

    // Hip Joint
    bodyID++;
    Mat6<T> xtreeHip =
        createSXform(coordinateRotation<T>(CoordinateAxis::Z, T(M_PI)),
                     withLegSigns<T>(_hipLocation, legID));
    Mat6<T> xtreeHipRotor =
        createSXform(coordinateRotation<T>(CoordinateAxis::Z, T(M_PI)),
                     withLegSigns<T>(_hipRotorLocation, legID));
    if (sideSign < 0) {
      model.addBody(_hipInertia.flipAlongAxis(CoordinateAxis::Y),
                    _hipRotorInertia.flipAlongAxis(CoordinateAxis::Y),
                    _hipGearRatio, bodyID - 1, JointType::Revolute,
                    CoordinateAxis::Y, xtreeHip, xtreeHipRotor);
    } else {
      model.addBody(_hipInertia, _hipRotorInertia, _hipGearRatio, bodyID - 1,
                    JointType::Revolute, CoordinateAxis::Y, xtreeHip,
                    xtreeHipRotor);
    }

    // add knee ground contact point
    model.addGroundContactPoint(bodyID, Vec3<T>(0, 0, -_hipLinkLength));

    // Knee Joint
    bodyID++;
    Mat6<T> xtreeKnee = createSXform(I3, _kneeLocation);
    Mat6<T> xtreeKneeRotor = createSXform(I3, _kneeRotorLocation);
    if (sideSign < 0) {
      model.addBody(_kneeInertia.flipAlongAxis(CoordinateAxis::Y),
                    _kneeRotorInertia.flipAlongAxis(CoordinateAxis::Y),
                    _kneeGearRatio, bodyID - 1, JointType::Revolute,
                    CoordinateAxis::Y, xtreeKnee, xtreeKneeRotor);
    } else {
      model.addBody(_kneeInertia, _kneeRotorInertia, _kneeGearRatio, bodyID - 1,
                    JointType::Revolute, CoordinateAxis::Y, xtreeKnee,
                    xtreeKneeRotor);
    }

    // add foot
    model.addGroundContactPoint(bodyID, Vec3<T>(0, 0, -_kneeLinkLength), true);

    sideSign *= -1;
  }

  Vec3<T> g(0, 0, -9.81);
  model.setGravity(g);

  return true;
}

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template<typename T>

Vec3<T> Quadruped< T >::getHipLocation ( int  leg )

inline

Get location of the hip for the given leg in robot frame

Definition at line 83 of file Quadruped.h.

                                  {
    assert(leg >= 0 && leg < 4);
    Vec3<T> pHip((leg == 0 || leg == 1) ? _abadLocation(0) : -_abadLocation(0),
                 (leg == 1 || leg == 3) ? _abadLocation(1) : -_abadLocation(1),
                 _abadLocation(2));
    return pHip;
  }

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template<typename T>

static T Quadruped< T >::getSideSign ( int  leg )

inlinestatic

Definition at line 74 of file Quadruped.h.

                                {
    const T sideSigns[4] = {-1, 1, -1, 1};
    assert(leg >= 0 && leg < 4);
    return sideSigns[leg];
  }

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Member Data Documentation

template<typename T>

T Quadruped< T >::_abadGearRatio

Definition at line 61 of file Quadruped.h.

template<typename T>

SpatialInertia<T> Quadruped< T >::_abadInertia

Definition at line 66 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_abadLinkLength

Definition at line 62 of file Quadruped.h.

template<typename T>

Vec3<T> Quadruped< T >::_abadLocation

Definition at line 68 of file Quadruped.h.

template<typename T>

SpatialInertia<T> Quadruped< T >::_abadRotorInertia

Definition at line 66 of file Quadruped.h.

template<typename T>

Vec3<T> Quadruped< T >::_abadRotorLocation

Definition at line 68 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_batteryV

Definition at line 63 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_bodyHeight

Definition at line 60 of file Quadruped.h.

template<typename T>

SpatialInertia<T> Quadruped< T >::_bodyInertia

Definition at line 66 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_bodyLength

Definition at line 60 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_bodyMass

Definition at line 60 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_bodyWidth

Definition at line 60 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_hipGearRatio

Definition at line 61 of file Quadruped.h.

template<typename T>

SpatialInertia<T> Quadruped< T >::_hipInertia

Definition at line 66 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_hipLinkLength

Definition at line 62 of file Quadruped.h.

template<typename T>

Vec3<T> Quadruped< T >::_hipLocation

Definition at line 68 of file Quadruped.h.

template<typename T>

SpatialInertia<T> Quadruped< T >::_hipRotorInertia

Definition at line 66 of file Quadruped.h.

template<typename T>

Vec3<T> Quadruped< T >::_hipRotorLocation

Definition at line 68 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_jointDamping

Definition at line 65 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_jointDryFriction

Definition at line 65 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_kneeGearRatio

Definition at line 61 of file Quadruped.h.

template<typename T>

SpatialInertia<T> Quadruped< T >::_kneeInertia

Definition at line 66 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_kneeLinkLength

Definition at line 62 of file Quadruped.h.

template<typename T>

Vec3<T> Quadruped< T >::_kneeLocation

Definition at line 68 of file Quadruped.h.

template<typename T>

SpatialInertia<T> Quadruped< T >::_kneeRotorInertia

Definition at line 66 of file Quadruped.h.

template<typename T>

Vec3<T> Quadruped< T >::_kneeRotorLocation

Definition at line 68 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_maxLegLength

Definition at line 62 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_motorKT

Definition at line 63 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_motorR

Definition at line 63 of file Quadruped.h.

template<typename T>

T Quadruped< T >::_motorTauMax

Definition at line 64 of file Quadruped.h.

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW RobotType Quadruped< T >::_robotType

Definition at line 59 of file Quadruped.h.

---

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

• Quadruped.h
• Quadruped.cpp