#include <XBotInterface/ModelInterface.h> |
#include <xbot2_interface/xbotinterface2.h> |
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#include <XBotInterface/RobotInterface.h> |
#include <xbot2_interface/robotinterface2.h> |
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#include <XBotInterface/Utils.h> |
#include <xbot2_interface/common/utils.h> |
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m->getEnabledJointNames() |
m->getJointNames() |
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m->getJointNum() |
m->getJointNum() OR m->getNv() OR m->getNq() |
m->getJointNum() returns the number of joints; m->getNv() returns the number of DoFs, i.e. the size of a motion or effort vector; m->getNq() returns the size of a configuration vector |
m->eigenToMap(x, xmap) |
m->eigenToQ(q, qmap) OR m->eigenToV(v, vmap) |
Depends on whether x is a configuration or a motion/effort |
q += qdot*dt |
q = m->sum(q, v*dt) |
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qdot = (q1 - q0)/dt |
qdot = m->difference(q1, q0)/dt |
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m->syncFrom(*m1, Sync::Position, Sync::Velocity) |
m->syncFrom(*m1, ControlMode::POSITION|ControlMode::VELOCITY |
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m->syncFrom(*r, Sync::Position, Sync::Velocity, Sync::MotorSide) |
m->syncFrom(*r, ControlMode::POSITION|ControlMode::VELOCITY, Sync::MotorSide) |
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m->getInertiaMatrix(M) |
m->computeInertiaMatrix(M) |
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m->getCentroidalMomentumMatrix(A) |
m->computeCentroidalMomentumMatrix(A) |
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m->getVelocityTwist("distal", "base", v) |
m->getRelativeVelocityTwist("distal", "base", v) |
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m->getJdotQdot(...) |
m->getJdotTimesV(...) |
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