hebi::robot_model Namespace Reference

Classes
class	ActuatorMetadata
	Actuator specific view of an element in a RobotModel instance. More...
class	BracketMetadata
	Bracket specific view of an element in a RobotModel instance. More...
class	CustomObjective
	Allows you to add a custom objective function. More...
class	EndEffectorPositionObjective
class	EndEffectorSO3Objective
class	EndEffectorTipAxisObjective
struct	IKResult
class	JointLimitConstraint
class	JointMetadata
	Joint specific view of an element in a RobotModel instance. More...
class	LinkMetadata
	Link specific view of an element in a RobotModel instance. More...
class	MetadataBase
	Base class for all metadata. Do not instantiate directly. More...
class	Objective
class	RigidBodyMetadata
	Rigid Body specific view of an element in a RobotModel instance. More...
class	RobotModel
	Represents a chain or tree of robot elements (rigid bodies and joints). More...

Typedefs
using	Matrix4dVector = std::vector< Matrix4d, Eigen::aligned_allocator< Eigen::Matrix4d > >
using	MatrixXdVector = std::vector< MatrixXd, Eigen::aligned_allocator< Eigen::MatrixXd > >

Enumerations
enum	ElementType {   ElementType::Other = HebiRobotModelElementTypeOther, ElementType::Actuator = HebiRobotModelElementTypeActuator, ElementType::Bracket = HebiRobotModelElementTypeBracket, ElementType::Joint = HebiRobotModelElementTypeJoint,   ElementType::Link = HebiRobotModelElementTypeLink, ElementType::RigidBody = HebiRobotModelElementTypeRigidBody, ElementType::EndEffector = HebiRobotModelElementTypeEndEffector }
enum	FrameType { FrameType::CenterOfMass = HebiFrameTypeCenterOfMass, FrameType::Output = HebiFrameTypeOutput, FrameType::EndEffector = HebiFrameTypeEndEffector, FrameType::Input = HebiFrameTypeInput }
enum	JointType {   JointType::RotationX = HebiJointTypeRotationX, JointType::RotationY = HebiJointTypeRotationY, JointType::RotationZ = HebiJointTypeRotationZ, JointType::TranslationX = HebiJointTypeTranslationX,   JointType::TranslationY = HebiJointTypeTranslationY, JointType::TranslationZ = HebiJointTypeTranslationZ }
enum	ActuatorType {   ActuatorType::X5_1 = HebiActuatorTypeX5_1, ActuatorType::X5_4 = HebiActuatorTypeX5_4, ActuatorType::X5_9 = HebiActuatorTypeX5_9, ActuatorType::X8_3 = HebiActuatorTypeX8_3,   ActuatorType::X8_9 = HebiActuatorTypeX8_9, ActuatorType::X8_16 = HebiActuatorTypeX8_16, ActuatorType::R8_3 = HebiActuatorTypeR8_3, ActuatorType::R8_9 = HebiActuatorTypeR8_9,   ActuatorType::R8_16 = HebiActuatorTypeR8_16 }
enum	LinkType { LinkType::X5 = HebiLinkTypeX5, LinkType::X8 = HebiLinkTypeR8 }
enum	LinkInputType { LinkInputType::RightAngle = HebiLinkInputTypeRightAngle, LinkInputType::Inline = HebiLinkInputTypeInline }
enum	LinkOutputType { LinkOutputType::RightAngle = HebiLinkOutputTypeRightAngle, LinkOutputType::Inline = HebiLinkOutputTypeInline }
enum	BracketType {   BracketType::X5LightLeft = HebiBracketTypeX5LightLeft, BracketType::X5LightRight = HebiBracketTypeX5LightRight, BracketType::X5HeavyLeftInside = HebiBracketTypeX5HeavyLeftInside, BracketType::X5HeavyLeftOutside = HebiBracketTypeX5HeavyLeftOutside,   BracketType::X5HeavyRightInside = HebiBracketTypeX5HeavyRightInside, BracketType::X5HeavyRightOutside = HebiBracketTypeX5HeavyRightOutside, BracketType::R8LightLeft = HebiBracketTypeR8LightLeft, BracketType::R8LightRight = HebiBracketTypeR8LightRight,   BracketType::R8HeavyLeftInside = HebiBracketTypeR8HeavyLeftInside, BracketType::R8HeavyLeftOutside = HebiBracketTypeR8HeavyLeftOutside, BracketType::R8HeavyRightInside = HebiBracketTypeR8HeavyRightInside, BracketType::R8HeavyRightOutside = HebiBracketTypeR8HeavyRightOutside }
enum	EndEffectorType { EndEffectorType::Custom = HebiEndEffectorTypeCustom, EndEffectorType::X5Parallel = HebiEndEffectorTypeX5Parallel, EndEffectorType::R8Parallel = HebiEndEffectorTypeR8Parallel }

Functions
bool	validateHRDF (HebiRobotModelPtr model)
template<size_t T>
void	custom_objective_callback_wrapper (void *user_data, size_t num_positions, const double *positions, double *errors)
	C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself. More...

Typedef Documentation

Matrix4dVector

using hebi::robot_model::Matrix4dVector = typedef std::vector<Matrix4d, Eigen::aligned_allocator<Eigen::Matrix4d> >

MatrixXdVector

using hebi::robot_model::MatrixXdVector = typedef std::vector<MatrixXd, Eigen::aligned_allocator<Eigen::MatrixXd> >

Enumeration Type Documentation

ElementType

enum hebi::robot_model::ElementType

strong

Enumerator
Other
Actuator
Bracket
Joint
Link
RigidBody
EndEffector

FrameType

enum hebi::robot_model::FrameType

strong

Enumerator
CenterOfMass
Output
EndEffector
Input

JointType

enum hebi::robot_model::JointType

strong

Enumerator
RotationX
RotationY
RotationZ
TranslationX
TranslationY
TranslationZ

ActuatorType

enum hebi::robot_model::ActuatorType

strong

Enumerator
X5_1
X5_4
X5_9
X8_3
X8_9
X8_16
R8_3
R8_9
R8_16

LinkType

enum hebi::robot_model::LinkType

strong

Enumerator
X5
X8

LinkInputType

enum hebi::robot_model::LinkInputType

strong

Enumerator
RightAngle
Inline

LinkOutputType

enum hebi::robot_model::LinkOutputType

strong

Enumerator
RightAngle
Inline

BracketType

enum hebi::robot_model::BracketType

strong

Enumerator
X5LightLeft
X5LightRight
X5HeavyLeftInside
X5HeavyLeftOutside
X5HeavyRightInside
X5HeavyRightOutside
R8LightLeft
R8LightRight
R8HeavyLeftInside
R8HeavyLeftOutside
R8HeavyRightInside
R8HeavyRightOutside

EndEffectorType

enum hebi::robot_model::EndEffectorType

strong

Enumerator
Custom
X5Parallel
R8Parallel

Function Documentation

validateHRDF()

bool hebi::robot_model::validateHRDF

(

HebiRobotModelPtr

model

)

custom_objective_callback_wrapper()

template<size_t T>

void hebi::robot_model::custom_objective_callback_wrapper ( void *  user_data, size_t  num_positions, const double *  positions, double *  errors  )

inline

C-style callback wrapper to call into CustomObjective class; this should only be used by the CustomObjective class itself.

INTERNAL This is forward declared here so it can be used in the CustomObjective class below.

INTERNAL