Core

namespace core

Typedefs

typedef std::shared_ptr<Model> ModelPtr

typedef std::shared_ptr<Link> LinkPtr

typedef std::shared_ptr<Joint> JointPtr

typedef std::shared_ptr<World> WorldPtr

Enums

enum class JointType

Supported joint types.

Values:

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enum class JointControlMode

Supported joint control modes.

Values:

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

enum class JointType

Supported joint types.

Values:

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enum class JointControlMode

Supported joint control modes.

Values:

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

enum class JointType

Supported joint types.

Values:

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enumerator Invalid

enumerator Fixed

enumerator Revolute

enumerator Prismatic

enumerator Ball

enum class JointControlMode

Supported joint control modes.

Values:

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

enumerator Invalid

Marks the joint to have an invalid control mode.

enumerator Idle

Marks the joint to be IDLE. An IDLE joint is equivalent to a joint controlled in Force with zero references. The joint shows only passive behaviour.

enumerator Force

Marks the joint to be controlled in force. A Force joint receives generalized force references that are actuated by a force actuator. Depending on the active backend, the presence of friction and other loss components could be compensated.

enumerator Velocity

Marks the joint to be controlled in velocity. A Velocity joint receives velocity references that are actuated using a PID controller.

enumerator VelocityFollowerDart

Marks the joint to follow precisely a velocity trajectory. A VelocityFollowerDart joint receives velocity references that are processed by the physics engine, which computes instantaneously the right force to apply to follow the desired trajectory. It works only with the DART physics engine.

enumerator Position

Marks the joint to be controlled in position. A Position joint receives position references that are actuated using a PID controller.

enumerator PositionInterpolated

Marks the joint to be controlled in position with trajectory smoothing. A PositionInterpolated joint receives position references that are filtered to get a smooth trajectory. The resulting trajectory is then actuated using a position PID controller.

class Joint

Subclassed by scenario::gazebo::Joint, scenario::gazebo::Joint, scenario::gazebo::Joint

Public Functions

virtual bool valid() const = 0

Check if the joint is valid.

Returns:

True if the joint is valid, false otherwise.

virtual size_t dofs() const = 0

Get the number of degrees of freedom of the joint.

Returns:

The number of DOFs of the joint.

virtual std::string name(const bool scoped = false) const = 0

Get the name of the joint.

Parameters:

scoped – If true, the scoped name of the joint is returned.

Returns:

The name of the joint.

virtual JointType type() const = 0

Get the type of the joint.

Returns:

The type of the joint.

virtual JointControlMode controlMode() const = 0

Get the active joint control mode.

Returns:

The active joint control mode.

virtual bool setControlMode(const JointControlMode mode) = 0

Set the joint control mode.

Parameters:

mode – The desired control mode.

Returns:

True for success, false otherwise.

virtual double controllerPeriod() const = 0

Get the period of the controller, if any.

The controller period is a model quantity. If no controller is active, infinity is returned.

Returns:

The the controller period.

virtual PID pid() const = 0

Get the PID parameters of the joint.

If no PID parameters have been set, the default parameters are returned.

Returns:

The joint PID parameters.

virtual bool setPID(const PID &pid) = 0

Set the PID parameters of the joint.

Parameters:

pid – The desired PID parameters.

Returns:

True for success, false otherwise.

virtual bool historyOfAppliedJointForcesEnabled() const = 0

Check if the history of applied joint forces is enabled.

Returns:

True if the history is enabled, false otherwise.

virtual bool enableHistoryOfAppliedJointForces(const bool enable = true, const size_t maxHistorySize = 100) = 0

Enable the history of joint forces.

Parameters:

• enable – True to enable, false to disable.

• maxHistorySize – The size of the history window.

Returns:

True for success, false otherwise.

virtual std::vector<double> historyOfAppliedJointForces() const = 0

Get the history of applied joint forces.

The vector is populated with # DoFs values at each physics step.

Returns:

The vector containing the history of joint forces.

virtual double coulombFriction() const = 0

Get the Coulomb friction of the joint.

If \( K_c \) is the Coulomb friction parameter, and \( \dot{q} \) the joint velocity, the corresponding torque is often modelled as:

\( \tau_{static} = sign(\dot{q}) K_c \)

Returns:

The Coulomb friction parameter of the joint.

virtual double viscousFriction() const = 0

Get the viscous friction of the joint.

If \( K_v \) is the viscous friction parameter, and \( \dot{q} \) the joint velocity, the corresponding torque is often modelled as:

\( \tau_{static} = K_v \dot{q} \)

Returns:

The viscous friction parameter of the joint.

virtual Limit positionLimit(const size_t dof = 0) const = 0

Get the position limits of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The position limits of the joint DOF.

virtual Limit velocityLimit(const size_t dof = 0) const = 0

Get the velocity limit of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The velocity limit of the joint DOF.

virtual bool setVelocityLimit(const double maxVelocity, const size_t dof = 0) = 0

Set the maximum velocity of a joint DOF.

This limit can be used to clip the velocity applied by joint controllers.

Parameters:

• maxVelocity – The maximum velocity.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double maxGeneralizedForce(const size_t dof = 0) const = 0

Get the maximum generalized force that could be applied to a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The maximum generalized force of the joint DOF.

virtual bool setMaxGeneralizedForce(const double maxForce, const size_t dof = 0) = 0

Set the maximum generalized force that can be applied to a joint DOF.

This limit can be used to clip the force applied by joint controllers.

Parameters:

• maxForce – The maximum generalized force.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double position(const size_t dof = 0) const = 0

Get the position of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The position of the joint DOF.

virtual double velocity(const size_t dof = 0) const = 0

Get the velocity of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The velocity of the joint DOF.

virtual double acceleration(const size_t dof = 0) const = 0

Get the acceleration of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The acceleration of the joint DOF.

virtual double generalizedForce(const size_t dof = 0) const = 0

Get the generalized force of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The generalized force of the joint DOF.

virtual bool setPositionTarget(const double position, const size_t dof = 0) = 0

Set the position target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• position – The position target of the joint DOF.

• dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

True for success, false otherwise.

virtual bool setVelocityTarget(const double velocity, const size_t dof = 0) = 0

Set the velocity target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• velocity – The velocity target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual bool setAccelerationTarget(const double acceleration, const size_t dof = 0) = 0

Set the acceleration target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• acceleration – The acceleration target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual bool setGeneralizedForceTarget(const double force, const size_t dof = 0) = 0

Set the generalized force target of a joint DOF.

The force is applied to the desired DOF. Note that if there’s friction or other loss components, the real joint force will differ.

Parameters:

• force – The generalized force target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double positionTarget(const size_t dof = 0) const = 0

Get the active position target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no position target was set.

Returns:

The position target of the joint DOF.

virtual double velocityTarget(const size_t dof = 0) const = 0

Get the active velocity target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no velocity target was set.

Returns:

The velocity target of the joint DOF.

virtual double accelerationTarget(const size_t dof = 0) const = 0

Get the active acceleration target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no acceleration target was set.

Returns:

The acceleration target of the joint DOF.

virtual double generalizedForceTarget(const size_t dof = 0) const = 0

Get the active generalized force target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no generalized force target was set.

Returns:

The generalized force target of the joint DOF.

virtual JointLimit jointPositionLimit() const = 0

Get the position limits of the joint.

Returns:

The position limits of the joint.

virtual JointLimit jointVelocityLimit() const = 0

Get the velocity limits of the joint.

Returns:

The velocity limits of the joint.

virtual bool setJointVelocityLimit(const std::vector<double> &maxVelocity) = 0

Set the maximum velocity of the joint.

This limit can be used to clip the velocity applied by joint controllers.

Parameters:

maxVelocity – A vector with the maximum velocity of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointMaxGeneralizedForce() const = 0

Get the maximum generalized force that could be applied to the joint.

Returns:

The maximum generalized force of the joint.

virtual bool setJointMaxGeneralizedForce(const std::vector<double> &maxForce) = 0

Set the maximum generalized force that can be applied to the joint.

This limit can be used to clip the force applied by joint controllers.

Parameters:

maxForce – A vector with the maximum generalized forces of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPosition() const = 0

Get the position of the joint.

Returns:

The position of the joint.

virtual std::vector<double> jointVelocity() const = 0

Get the velocity of the joint.

Returns:

The velocity of the joint.

virtual std::vector<double> jointAcceleration() const = 0

Get the acceleration of the joint.

Returns:

The acceleration of the joint.

virtual std::vector<double> jointGeneralizedForce() const = 0

Get the generalized force of the joint.

Returns:

The generalized force of the joint.

virtual bool setJointPositionTarget(const std::vector<double> &position) = 0

Set the position target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

position – A vector with the position targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointVelocityTarget(const std::vector<double> &velocity) = 0

Set the velocity target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

velocity – A vector with the velocity targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointAccelerationTarget(const std::vector<double> &acceleration) = 0

Set the acceleration target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

acceleration – A vector with the acceleration targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointGeneralizedForceTarget(const std::vector<double> &force) = 0

Set the generalized force target of the joint.

Note that if there’s friction or other loss components, the real joint force will differ.

Parameters:

force – A vector with the generalized force targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPositionTarget() const = 0

Get the active position target.

Returns:

The position target of the joint.

virtual std::vector<double> jointVelocityTarget() const = 0

Get the active velocity target.

Returns:

The velocity target of the joint.

virtual std::vector<double> jointAccelerationTarget() const = 0

Get the active acceleration target.

Returns:

The acceleration target of the joint.

virtual std::vector<double> jointGeneralizedForceTarget() const = 0

Get the active generalized force target.

Returns:

The generalized force target of the joint.

virtual bool valid() const = 0

Check if the joint is valid.

Returns:

True if the joint is valid, false otherwise.

virtual size_t dofs() const = 0

Get the number of degrees of freedom of the joint.

Returns:

The number of DOFs of the joint.

virtual std::string name(const bool scoped = false) const = 0

Get the name of the joint.

Parameters:

scoped – If true, the scoped name of the joint is returned.

Returns:

The name of the joint.

virtual JointType type() const = 0

Get the type of the joint.

Returns:

The type of the joint.

virtual JointControlMode controlMode() const = 0

Get the active joint control mode.

Returns:

The active joint control mode.

virtual bool setControlMode(const JointControlMode mode) = 0

Set the joint control mode.

Parameters:

mode – The desired control mode.

Returns:

True for success, false otherwise.

virtual double controllerPeriod() const = 0

Get the period of the controller, if any.

The controller period is a model quantity. If no controller is active, infinity is returned.

Returns:

The the controller period.

virtual PID pid() const = 0

Get the PID parameters of the joint.

If no PID parameters have been set, the default parameters are returned.

Returns:

The joint PID parameters.

virtual bool setPID(const PID &pid) = 0

Set the PID parameters of the joint.

Parameters:

pid – The desired PID parameters.

Returns:

True for success, false otherwise.

virtual bool historyOfAppliedJointForcesEnabled() const = 0

Check if the history of applied joint forces is enabled.

Returns:

True if the history is enabled, false otherwise.

virtual bool enableHistoryOfAppliedJointForces(const bool enable = true, const size_t maxHistorySize = 100) = 0

Enable the history of joint forces.

Parameters:

• enable – True to enable, false to disable.

• maxHistorySize – The size of the history window.

Returns:

True for success, false otherwise.

virtual std::vector<double> historyOfAppliedJointForces() const = 0

Get the history of applied joint forces.

The vector is populated with # DoFs values at each physics step.

Returns:

The vector containing the history of joint forces.

virtual double coulombFriction() const = 0

Get the Coulomb friction of the joint.

If \( K_c \) is the Coulomb friction parameter, and \( \dot{q} \) the joint velocity, the corresponding torque is often modelled as:

\( \tau_{static} = sign(\dot{q}) K_c \)

Returns:

The Coulomb friction parameter of the joint.

virtual double viscousFriction() const = 0

Get the viscous friction of the joint.

If \( K_v \) is the viscous friction parameter, and \( \dot{q} \) the joint velocity, the corresponding torque is often modelled as:

\( \tau_{static} = K_v \dot{q} \)

Returns:

The viscous friction parameter of the joint.

virtual Limit positionLimit(const size_t dof = 0) const = 0

Get the position limits of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The position limits of the joint DOF.

virtual Limit velocityLimit(const size_t dof = 0) const = 0

Get the velocity limit of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The velocity limit of the joint DOF.

virtual bool setVelocityLimit(const double maxVelocity, const size_t dof = 0) = 0

Set the maximum velocity of a joint DOF.

This limit can be used to clip the velocity applied by joint controllers.

Parameters:

• maxVelocity – The maximum velocity.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double maxGeneralizedForce(const size_t dof = 0) const = 0

Get the maximum generalized force that could be applied to a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The maximum generalized force of the joint DOF.

virtual bool setMaxGeneralizedForce(const double maxForce, const size_t dof = 0) = 0

Set the maximum generalized force that can be applied to a joint DOF.

This limit can be used to clip the force applied by joint controllers.

Parameters:

• maxForce – The maximum generalized force.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double position(const size_t dof = 0) const = 0

Get the position of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The position of the joint DOF.

virtual double velocity(const size_t dof = 0) const = 0

Get the velocity of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The velocity of the joint DOF.

virtual double acceleration(const size_t dof = 0) const = 0

Get the acceleration of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The acceleration of the joint DOF.

virtual double generalizedForce(const size_t dof = 0) const = 0

Get the generalized force of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The generalized force of the joint DOF.

virtual bool setPositionTarget(const double position, const size_t dof = 0) = 0

Set the position target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• position – The position target of the joint DOF.

• dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

True for success, false otherwise.

virtual bool setVelocityTarget(const double velocity, const size_t dof = 0) = 0

Set the velocity target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• velocity – The velocity target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual bool setAccelerationTarget(const double acceleration, const size_t dof = 0) = 0

Set the acceleration target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• acceleration – The acceleration target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual bool setGeneralizedForceTarget(const double force, const size_t dof = 0) = 0

Set the generalized force target of a joint DOF.

The force is applied to the desired DOF. Note that if there’s friction or other loss components, the real joint force will differ.

Parameters:

• force – The generalized force target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double positionTarget(const size_t dof = 0) const = 0

Get the active position target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no position target was set.

Returns:

The position target of the joint DOF.

virtual double velocityTarget(const size_t dof = 0) const = 0

Get the active velocity target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no velocity target was set.

Returns:

The velocity target of the joint DOF.

virtual double accelerationTarget(const size_t dof = 0) const = 0

Get the active acceleration target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no acceleration target was set.

Returns:

The acceleration target of the joint DOF.

virtual double generalizedForceTarget(const size_t dof = 0) const = 0

Get the active generalized force target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no generalized force target was set.

Returns:

The generalized force target of the joint DOF.

virtual JointLimit jointPositionLimit() const = 0

Get the position limits of the joint.

Returns:

The position limits of the joint.

virtual JointLimit jointVelocityLimit() const = 0

Get the velocity limits of the joint.

Returns:

The velocity limits of the joint.

virtual bool setJointVelocityLimit(const std::vector<double> &maxVelocity) = 0

Set the maximum velocity of the joint.

This limit can be used to clip the velocity applied by joint controllers.

Parameters:

maxVelocity – A vector with the maximum velocity of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointMaxGeneralizedForce() const = 0

Get the maximum generalized force that could be applied to the joint.

Returns:

The maximum generalized force of the joint.

virtual bool setJointMaxGeneralizedForce(const std::vector<double> &maxForce) = 0

Set the maximum generalized force that can be applied to the joint.

This limit can be used to clip the force applied by joint controllers.

Parameters:

maxForce – A vector with the maximum generalized forces of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPosition() const = 0

Get the position of the joint.

Returns:

The position of the joint.

virtual std::vector<double> jointVelocity() const = 0

Get the velocity of the joint.

Returns:

The velocity of the joint.

virtual std::vector<double> jointAcceleration() const = 0

Get the acceleration of the joint.

Returns:

The acceleration of the joint.

virtual std::vector<double> jointGeneralizedForce() const = 0

Get the generalized force of the joint.

Returns:

The generalized force of the joint.

virtual bool setJointPositionTarget(const std::vector<double> &position) = 0

Set the position target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

position – A vector with the position targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointVelocityTarget(const std::vector<double> &velocity) = 0

Set the velocity target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

velocity – A vector with the velocity targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointAccelerationTarget(const std::vector<double> &acceleration) = 0

Set the acceleration target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

acceleration – A vector with the acceleration targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointGeneralizedForceTarget(const std::vector<double> &force) = 0

Set the generalized force target of the joint.

Note that if there’s friction or other loss components, the real joint force will differ.

Parameters:

force – A vector with the generalized force targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPositionTarget() const = 0

Get the active position target.

Returns:

The position target of the joint.

virtual std::vector<double> jointVelocityTarget() const = 0

Get the active velocity target.

Returns:

The velocity target of the joint.

virtual std::vector<double> jointAccelerationTarget() const = 0

Get the active acceleration target.

Returns:

The acceleration target of the joint.

virtual std::vector<double> jointGeneralizedForceTarget() const = 0

Get the active generalized force target.

Returns:

The generalized force target of the joint.

virtual bool valid() const = 0

Check if the joint is valid.

Returns:

True if the joint is valid, false otherwise.

virtual size_t dofs() const = 0

Get the number of degrees of freedom of the joint.

Returns:

The number of DOFs of the joint.

virtual std::string name(const bool scoped = false) const = 0

Get the name of the joint.

Parameters:

scoped – If true, the scoped name of the joint is returned.

Returns:

The name of the joint.

virtual JointType type() const = 0

Get the type of the joint.

Returns:

The type of the joint.

virtual JointControlMode controlMode() const = 0

Get the active joint control mode.

Returns:

The active joint control mode.

virtual bool setControlMode(const JointControlMode mode) = 0

Set the joint control mode.

Parameters:

mode – The desired control mode.

Returns:

True for success, false otherwise.

virtual double controllerPeriod() const = 0

Get the period of the controller, if any.

The controller period is a model quantity. If no controller is active, infinity is returned.

Returns:

The the controller period.

virtual PID pid() const = 0

Get the PID parameters of the joint.

If no PID parameters have been set, the default parameters are returned.

Returns:

The joint PID parameters.

virtual bool setPID(const PID &pid) = 0

Set the PID parameters of the joint.

Parameters:

pid – The desired PID parameters.

Returns:

True for success, false otherwise.

virtual bool historyOfAppliedJointForcesEnabled() const = 0

Check if the history of applied joint forces is enabled.

Returns:

True if the history is enabled, false otherwise.

virtual bool enableHistoryOfAppliedJointForces(const bool enable = true, const size_t maxHistorySize = 100) = 0

Enable the history of joint forces.

Parameters:

• enable – True to enable, false to disable.

• maxHistorySize – The size of the history window.

Returns:

True for success, false otherwise.

virtual std::vector<double> historyOfAppliedJointForces() const = 0

Get the history of applied joint forces.

The vector is populated with # DoFs values at each physics step.

Returns:

The vector containing the history of joint forces.

virtual double coulombFriction() const = 0

Get the Coulomb friction of the joint.

If \( K_c \) is the Coulomb friction parameter, and \( \dot{q} \) the joint velocity, the corresponding torque is often modelled as:

\( \tau_{static} = sign(\dot{q}) K_c \)

Returns:

The Coulomb friction parameter of the joint.

virtual double viscousFriction() const = 0

Get the viscous friction of the joint.

If \( K_v \) is the viscous friction parameter, and \( \dot{q} \) the joint velocity, the corresponding torque is often modelled as:

\( \tau_{static} = K_v \dot{q} \)

Returns:

The viscous friction parameter of the joint.

virtual Limit positionLimit(const size_t dof = 0) const = 0

Get the position limits of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The position limits of the joint DOF.

virtual Limit velocityLimit(const size_t dof = 0) const = 0

Get the velocity limit of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The velocity limit of the joint DOF.

virtual bool setVelocityLimit(const double maxVelocity, const size_t dof = 0) = 0

Set the maximum velocity of a joint DOF.

This limit can be used to clip the velocity applied by joint controllers.

Parameters:

• maxVelocity – The maximum velocity.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double maxGeneralizedForce(const size_t dof = 0) const = 0

Get the maximum generalized force that could be applied to a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The maximum generalized force of the joint DOF.

virtual bool setMaxGeneralizedForce(const double maxForce, const size_t dof = 0) = 0

Set the maximum generalized force that can be applied to a joint DOF.

This limit can be used to clip the force applied by joint controllers.

Parameters:

• maxForce – The maximum generalized force.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double position(const size_t dof = 0) const = 0

Get the position of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The position of the joint DOF.

virtual double velocity(const size_t dof = 0) const = 0

Get the velocity of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The velocity of the joint DOF.

virtual double acceleration(const size_t dof = 0) const = 0

Get the acceleration of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The acceleration of the joint DOF.

virtual double generalizedForce(const size_t dof = 0) const = 0

Get the generalized force of a joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

The generalized force of the joint DOF.

virtual bool setPositionTarget(const double position, const size_t dof = 0) = 0

Set the position target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• position – The position target of the joint DOF.

• dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid.

Returns:

True for success, false otherwise.

virtual bool setVelocityTarget(const double velocity, const size_t dof = 0) = 0

Set the velocity target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• velocity – The velocity target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual bool setAccelerationTarget(const double acceleration, const size_t dof = 0) = 0

Set the acceleration target of a joint DOF.

The target is processed by a joint controller, if enabled.

Parameters:

• acceleration – The acceleration target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual bool setGeneralizedForceTarget(const double force, const size_t dof = 0) = 0

Set the generalized force target of a joint DOF.

The force is applied to the desired DOF. Note that if there’s friction or other loss components, the real joint force will differ.

Parameters:

• force – The generalized force target of the joint DOF.

• dof – The index of the DOF.

Returns:

True for success, false otherwise.

virtual double positionTarget(const size_t dof = 0) const = 0

Get the active position target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no position target was set.

Returns:

The position target of the joint DOF.

virtual double velocityTarget(const size_t dof = 0) const = 0

Get the active velocity target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no velocity target was set.

Returns:

The velocity target of the joint DOF.

virtual double accelerationTarget(const size_t dof = 0) const = 0

Get the active acceleration target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no acceleration target was set.

Returns:

The acceleration target of the joint DOF.

virtual double generalizedForceTarget(const size_t dof = 0) const = 0

Get the active generalized force target of the joint DOF.

Parameters:

dof – The index of the DOF.

Throws:

std::runtime_error – if the DOF is not valid or if no generalized force target was set.

Returns:

The generalized force target of the joint DOF.

virtual JointLimit jointPositionLimit() const = 0

Get the position limits of the joint.

Returns:

The position limits of the joint.

virtual JointLimit jointVelocityLimit() const = 0

Get the velocity limits of the joint.

Returns:

The velocity limits of the joint.

virtual bool setJointVelocityLimit(const std::vector<double> &maxVelocity) = 0

Set the maximum velocity of the joint.

This limit can be used to clip the velocity applied by joint controllers.

Parameters:

maxVelocity – A vector with the maximum velocity of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointMaxGeneralizedForce() const = 0

Get the maximum generalized force that could be applied to the joint.

Returns:

The maximum generalized force of the joint.

virtual bool setJointMaxGeneralizedForce(const std::vector<double> &maxForce) = 0

Set the maximum generalized force that can be applied to the joint.

This limit can be used to clip the force applied by joint controllers.

Parameters:

maxForce – A vector with the maximum generalized forces of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPosition() const = 0

Get the position of the joint.

Returns:

The position of the joint.

virtual std::vector<double> jointVelocity() const = 0

Get the velocity of the joint.

Returns:

The velocity of the joint.

virtual std::vector<double> jointAcceleration() const = 0

Get the acceleration of the joint.

Returns:

The acceleration of the joint.

virtual std::vector<double> jointGeneralizedForce() const = 0

Get the generalized force of the joint.

Returns:

The generalized force of the joint.

virtual bool setJointPositionTarget(const std::vector<double> &position) = 0

Set the position target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

position – A vector with the position targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointVelocityTarget(const std::vector<double> &velocity) = 0

Set the velocity target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

velocity – A vector with the velocity targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointAccelerationTarget(const std::vector<double> &acceleration) = 0

Set the acceleration target of the joint.

The target is processed by a joint controller, if enabled.

Parameters:

acceleration – A vector with the acceleration targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual bool setJointGeneralizedForceTarget(const std::vector<double> &force) = 0

Set the generalized force target of the joint.

Note that if there’s friction or other loss components, the real joint force will differ.

Parameters:

force – A vector with the generalized force targets of the joint DOFs.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPositionTarget() const = 0

Get the active position target.

Returns:

The position target of the joint.

virtual std::vector<double> jointVelocityTarget() const = 0

Get the active velocity target.

Returns:

The velocity target of the joint.

virtual std::vector<double> jointAccelerationTarget() const = 0

Get the active acceleration target.

Returns:

The acceleration target of the joint.

virtual std::vector<double> jointGeneralizedForceTarget() const = 0

Get the active generalized force target.

Returns:

The generalized force target of the joint.

struct PID

struct Limit

struct JointLimit

class Link

Subclassed by scenario::gazebo::Link, scenario::gazebo::Link, scenario::gazebo::Link

Public Functions

virtual bool valid() const = 0

Check if the link is valid.

Returns:

True if the link is valid, false otherwise.

virtual std::string name(const bool scoped = false) const = 0

Get the name of the link.

Parameters:

scoped – If true, the scoped name of the link is returned.

Returns:

The name of the link.

virtual double mass() const = 0

Get the mass of the link.

Returns:

The mass of the link.

virtual std::array<double, 3> position() const = 0

Get the position of the link.

The returned position is the position of the link frame, as it was defined in the model file, in world coordinates.

Returns:

The cartesian position of the link frame in world coordinates.

virtual std::array<double, 4> orientation() const = 0

Get the orientation of the link.

The orientation is returned as a quaternion, which defines the rotation between the world frame and the link frame.

Returns:

The wxyz quaternion defining the orientation if the link wrt the world frame.

virtual std::array<double, 3> worldLinearVelocity() const = 0

Get the linear mixed velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed velocity of the link.

virtual std::array<double, 3> worldAngularVelocity() const = 0

Get the angular mixed velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed velocity of the link.

virtual std::array<double, 3> bodyLinearVelocity() const = 0

Get the linear body velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body velocity of the link.

virtual std::array<double, 3> bodyAngularVelocity() const = 0

Get the angular body velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body velocity of the link.

virtual std::array<double, 3> worldLinearAcceleration() const = 0

Get the linear mixed acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed acceleration of the link.

virtual std::array<double, 3> worldAngularAcceleration() const = 0

Get the angular mixed acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed acceleration of the link.

virtual std::array<double, 3> bodyLinearAcceleration() const = 0

Get the linear body acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body acceleration of the link.

virtual std::array<double, 3> bodyAngularAcceleration() const = 0

Get the angular body acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body acceleration of the link.

virtual bool contactsEnabled() const = 0

Check if the contact detection is enabled.

Returns:

True if the contact detection is enabled, false otherwise.

virtual bool enableContactDetection(const bool enable) = 0

Enable the contact detection.

Parameters:

enable – True to enable the contact detection, false to disable.

Returns:

True for success, false otherwise.

virtual bool inContact() const = 0

Check if the link has active contacts.

Returns:

True if the link has at least one contact and contacts are enabled, false otherwise.

virtual std::vector<Contact> contacts() const = 0

Get the active contacts of the link.

Returns:

The vector of active contacts.

virtual std::array<double, 6> contactWrench() const = 0

Get the total wrench generated by the active contacts.

All the contact wrenches are composed to an equivalent wrench applied to the origin of the link frame and expressed in world coordinates.

Returns:

The total wrench of the active contacts.

virtual bool valid() const = 0

Check if the link is valid.

Returns:

True if the link is valid, false otherwise.

virtual std::string name(const bool scoped = false) const = 0

Get the name of the link.

Parameters:

scoped – If true, the scoped name of the link is returned.

Returns:

The name of the link.

virtual double mass() const = 0

Get the mass of the link.

Returns:

The mass of the link.

virtual std::array<double, 3> position() const = 0

Get the position of the link.

The returned position is the position of the link frame, as it was defined in the model file, in world coordinates.

Returns:

The cartesian position of the link frame in world coordinates.

virtual std::array<double, 4> orientation() const = 0

Get the orientation of the link.

The orientation is returned as a quaternion, which defines the rotation between the world frame and the link frame.

Returns:

The wxyz quaternion defining the orientation if the link wrt the world frame.

virtual std::array<double, 3> worldLinearVelocity() const = 0

Get the linear mixed velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed velocity of the link.

virtual std::array<double, 3> worldAngularVelocity() const = 0

Get the angular mixed velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed velocity of the link.

virtual std::array<double, 3> bodyLinearVelocity() const = 0

Get the linear body velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body velocity of the link.

virtual std::array<double, 3> bodyAngularVelocity() const = 0

Get the angular body velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body velocity of the link.

virtual std::array<double, 3> worldLinearAcceleration() const = 0

Get the linear mixed acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed acceleration of the link.

virtual std::array<double, 3> worldAngularAcceleration() const = 0

Get the angular mixed acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed acceleration of the link.

virtual std::array<double, 3> bodyLinearAcceleration() const = 0

Get the linear body acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body acceleration of the link.

virtual std::array<double, 3> bodyAngularAcceleration() const = 0

Get the angular body acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body acceleration of the link.

virtual bool contactsEnabled() const = 0

Check if the contact detection is enabled.

Returns:

True if the contact detection is enabled, false otherwise.

virtual bool enableContactDetection(const bool enable) = 0

Enable the contact detection.

Parameters:

enable – True to enable the contact detection, false to disable.

Returns:

True for success, false otherwise.

virtual bool inContact() const = 0

Check if the link has active contacts.

Returns:

True if the link has at least one contact and contacts are enabled, false otherwise.

virtual std::vector<Contact> contacts() const = 0

Get the active contacts of the link.

Returns:

The vector of active contacts.

virtual std::array<double, 6> contactWrench() const = 0

Get the total wrench generated by the active contacts.

All the contact wrenches are composed to an equivalent wrench applied to the origin of the link frame and expressed in world coordinates.

Returns:

The total wrench of the active contacts.

virtual bool valid() const = 0

Check if the link is valid.

Returns:

True if the link is valid, false otherwise.

virtual std::string name(const bool scoped = false) const = 0

Get the name of the link.

Parameters:

scoped – If true, the scoped name of the link is returned.

Returns:

The name of the link.

virtual double mass() const = 0

Get the mass of the link.

Returns:

The mass of the link.

virtual std::array<double, 3> position() const = 0

Get the position of the link.

The returned position is the position of the link frame, as it was defined in the model file, in world coordinates.

Returns:

The cartesian position of the link frame in world coordinates.

virtual std::array<double, 4> orientation() const = 0

Get the orientation of the link.

The orientation is returned as a quaternion, which defines the rotation between the world frame and the link frame.

Returns:

The wxyz quaternion defining the orientation if the link wrt the world frame.

virtual std::array<double, 3> worldLinearVelocity() const = 0

Get the linear mixed velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed velocity of the link.

virtual std::array<double, 3> worldAngularVelocity() const = 0

Get the angular mixed velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed velocity of the link.

virtual std::array<double, 3> bodyLinearVelocity() const = 0

Get the linear body velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body velocity of the link.

virtual std::array<double, 3> bodyAngularVelocity() const = 0

Get the angular body velocity of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body velocity of the link.

virtual std::array<double, 3> worldLinearAcceleration() const = 0

Get the linear mixed acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed acceleration of the link.

virtual std::array<double, 3> worldAngularAcceleration() const = 0

Get the angular mixed acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed acceleration of the link.

virtual std::array<double, 3> bodyLinearAcceleration() const = 0

Get the linear body acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body acceleration of the link.

virtual std::array<double, 3> bodyAngularAcceleration() const = 0

Get the angular body acceleration of the link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body acceleration of the link.

virtual bool contactsEnabled() const = 0

Check if the contact detection is enabled.

Returns:

True if the contact detection is enabled, false otherwise.

virtual bool enableContactDetection(const bool enable) = 0

Enable the contact detection.

Parameters:

enable – True to enable the contact detection, false to disable.

Returns:

True for success, false otherwise.

virtual bool inContact() const = 0

Check if the link has active contacts.

Returns:

True if the link has at least one contact and contacts are enabled, false otherwise.

virtual std::vector<Contact> contacts() const = 0

Get the active contacts of the link.

Returns:

The vector of active contacts.

virtual std::array<double, 6> contactWrench() const = 0

Get the total wrench generated by the active contacts.

All the contact wrenches are composed to an equivalent wrench applied to the origin of the link frame and expressed in world coordinates.

Returns:

The total wrench of the active contacts.

struct Pose

struct ContactPoint

struct Contact

class Model

Subclassed by scenario::gazebo::Model, scenario::gazebo::Model, scenario::gazebo::Model

Public Functions

virtual bool valid() const = 0

Check if the model is valid.

Returns:

True if the model is valid, false otherwise.

virtual size_t dofs(const std::vector<std::string> &jointNames = {}) const = 0

Get the degrees of freedom of the model.

Parameters:

jointNames – Optionally restrict the count to a subset of joints.

Returns:

The number of degrees of freedom of the model.

virtual std::string name() const = 0

Get the name of the model.

Returns:

The name of the model.

virtual size_t nrOfLinks() const = 0

Get the number of links of the model.

Returns:

The number of links.

virtual size_t nrOfJoints() const = 0

Get the number of joints of the model.

Returns:

The number of joints.

virtual double totalMass(const std::vector<std::string> &linkNames = {}) const = 0

Get the total mass of the model.

Parameters:

linkNames – Optionally restrict the count to a subset of links.

Returns:

The total mass of the model.

virtual LinkPtr getLink(const std::string &linkName) const = 0

Get a link belonging to the model.

Parameters:

linkName – The name of the link.

Throws:

std::runtime_error – if the link does not exist.

Returns:

The desired link.

virtual JointPtr getJoint(const std::string &jointName) const = 0

Get a joint belonging to the model.

Parameters:

jointName – The name of the joint.

Throws:

std::runtime_error – if the joint does not exist.

Returns:

The desired joint.

virtual std::vector<std::string> linkNames(const bool scoped = false) const = 0

Get the name of all the model’s links.

Parameters:

scoped – Scope the link names with the model name (e.g. mymodel::link1).

Returns:

The list of link names.

virtual std::vector<std::string> jointNames(const bool scoped = false) const = 0

Get the name of all the model’s joints.

Parameters:

scoped – Scope the joint names with the model name, (e.g. mymodel::joint1).

Returns:

The list of joint names.

virtual double controllerPeriod() const = 0

Get the controller period of the model.

If no controller has been enabled, infinite is returned.

Returns:

The controller period of the model.

virtual bool setControllerPeriod(const double period) = 0

Set the controller period of the model.

This controller period is used by PIDs and custom controller. If it is smaller than the physics step, it is treated as 0.

Parameters:

period – The desired controller period.

Returns:

True for success, false otherwise.

virtual bool enableHistoryOfAppliedJointForces(const bool enable = true, const size_t maxHistorySizePerJoint = 100, const std::vector<std::string> &jointNames = {}) = 0

Enable logging the applied joint forces.

The output of joint controllers is often a torque. This method allows to log the force references that the controller sent to the joints. It is useful when the controller runs in its own thread at its own rate and the caller wants to extract the forces at a lower frequency.

Parameters:

• enable – True to enable logging, false to disable.

• maxHistorySizePerJoint – Size of the logging window of each joint.

• jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool historyOfAppliedJointForcesEnabled(const std::vector<std::string> &jointNames) const = 0

Check if logging the applied joint force is enabled.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True if the log is enabled, false otherwise.

virtual std::vector<double> historyOfAppliedJointForces(const std::vector<std::string> &jointNames = {}) const = 0

Get the log of applied joint forces.

Note

Given a serialization, the window has DoFs * JointWindowSize elements. The elements are ordered per time steps, i.e. the first #DoFs elements refer to the oldest forces of the windows ordered with the active joint serialization.

Note

If a joint has multiple DoFs, they are serialized contiguously.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The entire window of applied joint forces.

virtual bool contactsEnabled() const = 0

Check if the contact detection is enabled model-wise.

Returns:

True if the contact detection is enabled model-wise, false otherwise.

virtual bool enableContacts(const bool enable = true) = 0

Enable the contact detection model-wise.

Parameters:

enable – True to enable the contact detection model-wise, false to disable.

Returns:

True for success, false otherwise.

virtual std::vector<std::string> linksInContact() const = 0

Get the vector of links with active contacts with other bodies.

Returns:

The vector of links in contact.

virtual std::vector<Contact> contacts(const std::vector<std::string> &linkNames = {}) const = 0

Get the active contacts of the model.

Parameters:

linkNames – Optionally restrict the considered links.

Returns:

A vector of contacts.

virtual std::vector<double> jointPositions(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint positions.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint positions. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointVelocities(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint velocities.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint velocities. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointAccelerations(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint accelerations.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint accelerations. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointGeneralizedForces(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint generalized forces.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint forces. The vector has as many elements as DoFs of the considered joints.

virtual JointLimit jointLimits(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint limits of the model.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The joint limits of the model. The vectors of the limit object have as many elements as DoFs of the considered joints.

virtual bool setJointControlMode(const JointControlMode mode, const std::vector<std::string> &jointNames = {}) = 0

Set the control mode of model joints.

Parameters:

• mode – The desired joint control mode.

• jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual std::vector<LinkPtr> links(const std::vector<std::string> &linkNames = {}) const = 0

Get the links of the model.

Parameters:

linkNames – Optional vector of considered links. By default, Model::linkNames is used.

Returns:

A vector of pointers to the link objects.

virtual std::vector<JointPtr> joints(const std::vector<std::string> &jointNames = {}) const = 0

Get the joints of the model.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

A vector of pointers to the joint objects.

virtual bool setJointPositionTargets(const std::vector<double> &positions, const std::vector<std::string> &jointNames = {}) = 0

Set the position targets of the joints.

Parameters:

• positions – The vector with the joint position targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointVelocityTargets(const std::vector<double> &velocities, const std::vector<std::string> &jointNames = {}) = 0

Set the velocity targets of the joints.

Parameters:

• velocities – The vector with the joint velocity targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointAccelerationTargets(const std::vector<double> &accelerations, const std::vector<std::string> &jointNames = {}) = 0

Set the acceleration targets of the joints.

Parameters:

• accelerations – The vector with the joint acceleration targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointGeneralizedForceTargets(const std::vector<double> &forces, const std::vector<std::string> &jointNames = {}) = 0

Set the generalized force targets of the joints.

Parameters:

• forces – The vector with the joint generalized force targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPositionTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the position targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The position targets of the joints.

virtual std::vector<double> jointVelocityTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the velocity targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The velocity targets of the joints.

virtual std::vector<double> jointAccelerationTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the acceleration targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The acceleration targets of the joints.

virtual std::vector<double> jointGeneralizedForceTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the generalized force targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The generalized force targets of the joints.

virtual std::string baseFrame() const = 0

Get the name of the model’s base frame.

By default, the base frame is typically the root of the kinematic tree of the model.

Returns:

The name of the model’s base frame.

virtual std::array<double, 3> basePosition() const = 0

Get the position of the base link.

Returns:

The position of the base link in world coordinates.

virtual std::array<double, 4> baseOrientation() const = 0

Get the orientation of the base link.

Returns:

The wxyz quaternion defining the orientation of the base link wrt the world frame.

virtual std::array<double, 3> baseBodyLinearVelocity() const = 0

Get the linear body velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body velocity of the base link.

virtual std::array<double, 3> baseBodyAngularVelocity() const = 0

Get the angular body velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body velocity of the base link.

virtual std::array<double, 3> baseWorldLinearVelocity() const = 0

Get the linear mixed velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed velocity of the base link.

virtual std::array<double, 3> baseWorldAngularVelocity() const = 0

Get the angular mixed velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed velocity of the base link.

virtual bool setBasePoseTarget(const std::array<double, 3> &position, const std::array<double, 4> &orientation) = 0

Set the pose target of the base link.

Parameters:

• position – The position target of the base link in world coordinates.

• orientation – The wxyz quaternion defining the orientation target of the base link wrt the world frame.

Returns:

True for success, false otherwise.

virtual bool setBasePositionTarget(const std::array<double, 3> &position) = 0

Set the position target of the base link.

Parameters:

position – The position target of the base link in world coordinates.

Returns:

True for success, false otherwise.

virtual bool setBaseOrientationTarget(const std::array<double, 4> &orientation) = 0

Set the orientation target of the base link.

Parameters:

orientation – The wxyz quaternion defining the orientation target of the base link wrt the world frame.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldVelocityTarget(const std::array<double, 3> &linear, const std::array<double, 3> &angular) = 0

Set the mixed velocity target of the base link.

Parameters:

• linear – The mixed linear velocity target of the base link.

• angular – The mixed angular velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldLinearVelocityTarget(const std::array<double, 3> &linear) = 0

Set the mixed linear velocity target of the base link.

Parameters:

linear – The mixed linear velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldAngularVelocityTarget(const std::array<double, 3> &angular) = 0

Set the mixed angular velocity target of the base link.

Parameters:

angular – The mixed angular velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldLinearAccelerationTarget(const std::array<double, 3> &linear) = 0

Set the mixed linear acceleration target of the base link.

Parameters:

linear – The mixed linear acceleration target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldAngularAccelerationTarget(const std::array<double, 3> &angular) = 0

Set the mixed angular acceleration target of the base link.

Parameters:

angular – The mixed angular acceleration target of the base link.

Returns:

True for success, false otherwise.

virtual std::array<double, 3> basePositionTarget() const = 0

Get the position target of the base link.

Returns:

The position target of the base link.

virtual std::array<double, 4> baseOrientationTarget() const = 0

Get the orientation target of the base link.

Returns:

The quaternion defining the orientation target of the base link.

virtual std::array<double, 3> baseWorldLinearVelocityTarget() const = 0

Get the mixed linear velocity target of the base link.

Returns:

The mixed linear velocity target of the base link.

virtual std::array<double, 3> baseWorldAngularVelocityTarget() const = 0

Get the mixed angular velocity target of the base link.

Returns:

The mixed angular velocity target of the base link.

virtual std::array<double, 3> baseWorldLinearAccelerationTarget() const = 0

Get the mixed linear acceleration target of the base link.

Returns:

The mixed linear acceleration target of the base link.

virtual std::array<double, 3> baseWorldAngularAccelerationTarget() const = 0

Get the mixed angular acceleration target of the base link.

Returns:

The mixed angular acceleration target of the base link.

virtual bool valid() const = 0

Check if the model is valid.

Returns:

True if the model is valid, false otherwise.

virtual size_t dofs(const std::vector<std::string> &jointNames = {}) const = 0

Get the degrees of freedom of the model.

Parameters:

jointNames – Optionally restrict the count to a subset of joints.

Returns:

The number of degrees of freedom of the model.

virtual std::string name() const = 0

Get the name of the model.

Returns:

The name of the model.

virtual size_t nrOfLinks() const = 0

Get the number of links of the model.

Returns:

The number of links.

virtual size_t nrOfJoints() const = 0

Get the number of joints of the model.

Returns:

The number of joints.

virtual double totalMass(const std::vector<std::string> &linkNames = {}) const = 0

Get the total mass of the model.

Parameters:

linkNames – Optionally restrict the count to a subset of links.

Returns:

The total mass of the model.

virtual LinkPtr getLink(const std::string &linkName) const = 0

Get a link belonging to the model.

Parameters:

linkName – The name of the link.

Throws:

std::runtime_error – if the link does not exist.

Returns:

The desired link.

virtual JointPtr getJoint(const std::string &jointName) const = 0

Get a joint belonging to the model.

Parameters:

jointName – The name of the joint.

Throws:

std::runtime_error – if the joint does not exist.

Returns:

The desired joint.

virtual std::vector<std::string> linkNames(const bool scoped = false) const = 0

Get the name of all the model’s links.

Parameters:

scoped – Scope the link names with the model name (e.g. mymodel::link1).

Returns:

The list of link names.

virtual std::vector<std::string> jointNames(const bool scoped = false) const = 0

Get the name of all the model’s joints.

Parameters:

scoped – Scope the joint names with the model name, (e.g. mymodel::joint1).

Returns:

The list of joint names.

virtual double controllerPeriod() const = 0

Get the controller period of the model.

If no controller has been enabled, infinite is returned.

Returns:

The controller period of the model.

virtual bool setControllerPeriod(const double period) = 0

Set the controller period of the model.

This controller period is used by PIDs and custom controller. If it is smaller than the physics step, it is treated as 0.

Parameters:

period – The desired controller period.

Returns:

True for success, false otherwise.

virtual bool enableHistoryOfAppliedJointForces(const bool enable = true, const size_t maxHistorySizePerJoint = 100, const std::vector<std::string> &jointNames = {}) = 0

Enable logging the applied joint forces.

The output of joint controllers is often a torque. This method allows to log the force references that the controller sent to the joints. It is useful when the controller runs in its own thread at its own rate and the caller wants to extract the forces at a lower frequency.

Parameters:

• enable – True to enable logging, false to disable.

• maxHistorySizePerJoint – Size of the logging window of each joint.

• jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool historyOfAppliedJointForcesEnabled(const std::vector<std::string> &jointNames) const = 0

Check if logging the applied joint force is enabled.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True if the log is enabled, false otherwise.

virtual std::vector<double> historyOfAppliedJointForces(const std::vector<std::string> &jointNames = {}) const = 0

Get the log of applied joint forces.

Note

Given a serialization, the window has DoFs * JointWindowSize elements. The elements are ordered per time steps, i.e. the first #DoFs elements refer to the oldest forces of the windows ordered with the active joint serialization.

Note

If a joint has multiple DoFs, they are serialized contiguously.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The entire window of applied joint forces.

virtual bool contactsEnabled() const = 0

Check if the contact detection is enabled model-wise.

Returns:

True if the contact detection is enabled model-wise, false otherwise.

virtual bool enableContacts(const bool enable = true) = 0

Enable the contact detection model-wise.

Parameters:

enable – True to enable the contact detection model-wise, false to disable.

Returns:

True for success, false otherwise.

virtual std::vector<std::string> linksInContact() const = 0

Get the vector of links with active contacts with other bodies.

Returns:

The vector of links in contact.

virtual std::vector<Contact> contacts(const std::vector<std::string> &linkNames = {}) const = 0

Get the active contacts of the model.

Parameters:

linkNames – Optionally restrict the considered links.

Returns:

A vector of contacts.

virtual std::vector<double> jointPositions(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint positions.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint positions. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointVelocities(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint velocities.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint velocities. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointAccelerations(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint accelerations.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint accelerations. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointGeneralizedForces(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint generalized forces.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint forces. The vector has as many elements as DoFs of the considered joints.

virtual JointLimit jointLimits(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint limits of the model.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The joint limits of the model. The vectors of the limit object have as many elements as DoFs of the considered joints.

virtual bool setJointControlMode(const JointControlMode mode, const std::vector<std::string> &jointNames = {}) = 0

Set the control mode of model joints.

Parameters:

• mode – The desired joint control mode.

• jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual std::vector<LinkPtr> links(const std::vector<std::string> &linkNames = {}) const = 0

Get the links of the model.

Parameters:

linkNames – Optional vector of considered links. By default, Model::linkNames is used.

Returns:

A vector of pointers to the link objects.

virtual std::vector<JointPtr> joints(const std::vector<std::string> &jointNames = {}) const = 0

Get the joints of the model.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

A vector of pointers to the joint objects.

virtual bool setJointPositionTargets(const std::vector<double> &positions, const std::vector<std::string> &jointNames = {}) = 0

Set the position targets of the joints.

Parameters:

• positions – The vector with the joint position targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointVelocityTargets(const std::vector<double> &velocities, const std::vector<std::string> &jointNames = {}) = 0

Set the velocity targets of the joints.

Parameters:

• velocities – The vector with the joint velocity targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointAccelerationTargets(const std::vector<double> &accelerations, const std::vector<std::string> &jointNames = {}) = 0

Set the acceleration targets of the joints.

Parameters:

• accelerations – The vector with the joint acceleration targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointGeneralizedForceTargets(const std::vector<double> &forces, const std::vector<std::string> &jointNames = {}) = 0

Set the generalized force targets of the joints.

Parameters:

• forces – The vector with the joint generalized force targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPositionTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the position targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The position targets of the joints.

virtual std::vector<double> jointVelocityTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the velocity targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The velocity targets of the joints.

virtual std::vector<double> jointAccelerationTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the acceleration targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The acceleration targets of the joints.

virtual std::vector<double> jointGeneralizedForceTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the generalized force targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The generalized force targets of the joints.

virtual std::string baseFrame() const = 0

Get the name of the model’s base frame.

By default, the base frame is typically the root of the kinematic tree of the model.

Returns:

The name of the model’s base frame.

virtual std::array<double, 3> basePosition() const = 0

Get the position of the base link.

Returns:

The position of the base link in world coordinates.

virtual std::array<double, 4> baseOrientation() const = 0

Get the orientation of the base link.

Returns:

The wxyz quaternion defining the orientation of the base link wrt the world frame.

virtual std::array<double, 3> baseBodyLinearVelocity() const = 0

Get the linear body velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body velocity of the base link.

virtual std::array<double, 3> baseBodyAngularVelocity() const = 0

Get the angular body velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body velocity of the base link.

virtual std::array<double, 3> baseWorldLinearVelocity() const = 0

Get the linear mixed velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed velocity of the base link.

virtual std::array<double, 3> baseWorldAngularVelocity() const = 0

Get the angular mixed velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed velocity of the base link.

virtual bool setBasePoseTarget(const std::array<double, 3> &position, const std::array<double, 4> &orientation) = 0

Set the pose target of the base link.

Parameters:

• position – The position target of the base link in world coordinates.

• orientation – The wxyz quaternion defining the orientation target of the base link wrt the world frame.

Returns:

True for success, false otherwise.

virtual bool setBasePositionTarget(const std::array<double, 3> &position) = 0

Set the position target of the base link.

Parameters:

position – The position target of the base link in world coordinates.

Returns:

True for success, false otherwise.

virtual bool setBaseOrientationTarget(const std::array<double, 4> &orientation) = 0

Set the orientation target of the base link.

Parameters:

orientation – The wxyz quaternion defining the orientation target of the base link wrt the world frame.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldVelocityTarget(const std::array<double, 3> &linear, const std::array<double, 3> &angular) = 0

Set the mixed velocity target of the base link.

Parameters:

• linear – The mixed linear velocity target of the base link.

• angular – The mixed angular velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldLinearVelocityTarget(const std::array<double, 3> &linear) = 0

Set the mixed linear velocity target of the base link.

Parameters:

linear – The mixed linear velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldAngularVelocityTarget(const std::array<double, 3> &angular) = 0

Set the mixed angular velocity target of the base link.

Parameters:

angular – The mixed angular velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldLinearAccelerationTarget(const std::array<double, 3> &linear) = 0

Set the mixed linear acceleration target of the base link.

Parameters:

linear – The mixed linear acceleration target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldAngularAccelerationTarget(const std::array<double, 3> &angular) = 0

Set the mixed angular acceleration target of the base link.

Parameters:

angular – The mixed angular acceleration target of the base link.

Returns:

True for success, false otherwise.

virtual std::array<double, 3> basePositionTarget() const = 0

Get the position target of the base link.

Returns:

The position target of the base link.

virtual std::array<double, 4> baseOrientationTarget() const = 0

Get the orientation target of the base link.

Returns:

The quaternion defining the orientation target of the base link.

virtual std::array<double, 3> baseWorldLinearVelocityTarget() const = 0

Get the mixed linear velocity target of the base link.

Returns:

The mixed linear velocity target of the base link.

virtual std::array<double, 3> baseWorldAngularVelocityTarget() const = 0

Get the mixed angular velocity target of the base link.

Returns:

The mixed angular velocity target of the base link.

virtual std::array<double, 3> baseWorldLinearAccelerationTarget() const = 0

Get the mixed linear acceleration target of the base link.

Returns:

The mixed linear acceleration target of the base link.

virtual std::array<double, 3> baseWorldAngularAccelerationTarget() const = 0

Get the mixed angular acceleration target of the base link.

Returns:

The mixed angular acceleration target of the base link.

virtual bool valid() const = 0

Check if the model is valid.

Returns:

True if the model is valid, false otherwise.

virtual size_t dofs(const std::vector<std::string> &jointNames = {}) const = 0

Get the degrees of freedom of the model.

Parameters:

jointNames – Optionally restrict the count to a subset of joints.

Returns:

The number of degrees of freedom of the model.

virtual std::string name() const = 0

Get the name of the model.

Returns:

The name of the model.

virtual size_t nrOfLinks() const = 0

Get the number of links of the model.

Returns:

The number of links.

virtual size_t nrOfJoints() const = 0

Get the number of joints of the model.

Returns:

The number of joints.

virtual double totalMass(const std::vector<std::string> &linkNames = {}) const = 0

Get the total mass of the model.

Parameters:

linkNames – Optionally restrict the count to a subset of links.

Returns:

The total mass of the model.

virtual LinkPtr getLink(const std::string &linkName) const = 0

Get a link belonging to the model.

Parameters:

linkName – The name of the link.

Throws:

std::runtime_error – if the link does not exist.

Returns:

The desired link.

virtual JointPtr getJoint(const std::string &jointName) const = 0

Get a joint belonging to the model.

Parameters:

jointName – The name of the joint.

Throws:

std::runtime_error – if the joint does not exist.

Returns:

The desired joint.

virtual std::vector<std::string> linkNames(const bool scoped = false) const = 0

Get the name of all the model’s links.

Parameters:

scoped – Scope the link names with the model name (e.g. mymodel::link1).

Returns:

The list of link names.

virtual std::vector<std::string> jointNames(const bool scoped = false) const = 0

Get the name of all the model’s joints.

Parameters:

scoped – Scope the joint names with the model name, (e.g. mymodel::joint1).

Returns:

The list of joint names.

virtual double controllerPeriod() const = 0

Get the controller period of the model.

If no controller has been enabled, infinite is returned.

Returns:

The controller period of the model.

virtual bool setControllerPeriod(const double period) = 0

Set the controller period of the model.

This controller period is used by PIDs and custom controller. If it is smaller than the physics step, it is treated as 0.

Parameters:

period – The desired controller period.

Returns:

True for success, false otherwise.

virtual bool enableHistoryOfAppliedJointForces(const bool enable = true, const size_t maxHistorySizePerJoint = 100, const std::vector<std::string> &jointNames = {}) = 0

Enable logging the applied joint forces.

The output of joint controllers is often a torque. This method allows to log the force references that the controller sent to the joints. It is useful when the controller runs in its own thread at its own rate and the caller wants to extract the forces at a lower frequency.

Parameters:

• enable – True to enable logging, false to disable.

• maxHistorySizePerJoint – Size of the logging window of each joint.

• jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool historyOfAppliedJointForcesEnabled(const std::vector<std::string> &jointNames) const = 0

Check if logging the applied joint force is enabled.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True if the log is enabled, false otherwise.

virtual std::vector<double> historyOfAppliedJointForces(const std::vector<std::string> &jointNames = {}) const = 0

Get the log of applied joint forces.

Note

Given a serialization, the window has DoFs * JointWindowSize elements. The elements are ordered per time steps, i.e. the first #DoFs elements refer to the oldest forces of the windows ordered with the active joint serialization.

Note

If a joint has multiple DoFs, they are serialized contiguously.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The entire window of applied joint forces.

virtual bool contactsEnabled() const = 0

Check if the contact detection is enabled model-wise.

Returns:

True if the contact detection is enabled model-wise, false otherwise.

virtual bool enableContacts(const bool enable = true) = 0

Enable the contact detection model-wise.

Parameters:

enable – True to enable the contact detection model-wise, false to disable.

Returns:

True for success, false otherwise.

virtual std::vector<std::string> linksInContact() const = 0

Get the vector of links with active contacts with other bodies.

Returns:

The vector of links in contact.

virtual std::vector<Contact> contacts(const std::vector<std::string> &linkNames = {}) const = 0

Get the active contacts of the model.

Parameters:

linkNames – Optionally restrict the considered links.

Returns:

A vector of contacts.

virtual std::vector<double> jointPositions(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint positions.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint positions. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointVelocities(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint velocities.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint velocities. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointAccelerations(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint accelerations.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint accelerations. The vector has as many elements as DoFs of the considered joints.

virtual std::vector<double> jointGeneralizedForces(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint generalized forces.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The serialization of joint forces. The vector has as many elements as DoFs of the considered joints.

virtual JointLimit jointLimits(const std::vector<std::string> &jointNames = {}) const = 0

Get the joint limits of the model.

Parameters:

jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

The joint limits of the model. The vectors of the limit object have as many elements as DoFs of the considered joints.

virtual bool setJointControlMode(const JointControlMode mode, const std::vector<std::string> &jointNames = {}) = 0

Set the control mode of model joints.

Parameters:

• mode – The desired joint control mode.

• jointNames – Optional vector of considered joints that also defines the joint serialization. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual std::vector<LinkPtr> links(const std::vector<std::string> &linkNames = {}) const = 0

Get the links of the model.

Parameters:

linkNames – Optional vector of considered links. By default, Model::linkNames is used.

Returns:

A vector of pointers to the link objects.

virtual std::vector<JointPtr> joints(const std::vector<std::string> &jointNames = {}) const = 0

Get the joints of the model.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

A vector of pointers to the joint objects.

virtual bool setJointPositionTargets(const std::vector<double> &positions, const std::vector<std::string> &jointNames = {}) = 0

Set the position targets of the joints.

Parameters:

• positions – The vector with the joint position targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointVelocityTargets(const std::vector<double> &velocities, const std::vector<std::string> &jointNames = {}) = 0

Set the velocity targets of the joints.

Parameters:

• velocities – The vector with the joint velocity targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointAccelerationTargets(const std::vector<double> &accelerations, const std::vector<std::string> &jointNames = {}) = 0

Set the acceleration targets of the joints.

Parameters:

• accelerations – The vector with the joint acceleration targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual bool setJointGeneralizedForceTargets(const std::vector<double> &forces, const std::vector<std::string> &jointNames = {}) = 0

Set the generalized force targets of the joints.

Parameters:

• forces – The vector with the joint generalized force targets. It must have as many elements as the considered joint DoFs.

• jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

True for success, false otherwise.

virtual std::vector<double> jointPositionTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the position targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The position targets of the joints.

virtual std::vector<double> jointVelocityTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the velocity targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The velocity targets of the joints.

virtual std::vector<double> jointAccelerationTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the acceleration targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The acceleration targets of the joints.

virtual std::vector<double> jointGeneralizedForceTargets(const std::vector<std::string> &jointNames = {}) const = 0

Get the generalized force targets of the joints.

Parameters:

jointNames – Optional vector of considered joints. By default, Model::jointNames is used.

Returns:

The generalized force targets of the joints.

virtual std::string baseFrame() const = 0

Get the name of the model’s base frame.

By default, the base frame is typically the root of the kinematic tree of the model.

Returns:

The name of the model’s base frame.

virtual std::array<double, 3> basePosition() const = 0

Get the position of the base link.

Returns:

The position of the base link in world coordinates.

virtual std::array<double, 4> baseOrientation() const = 0

Get the orientation of the base link.

Returns:

The wxyz quaternion defining the orientation of the base link wrt the world frame.

virtual std::array<double, 3> baseBodyLinearVelocity() const = 0

Get the linear body velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear body velocity of the base link.

virtual std::array<double, 3> baseBodyAngularVelocity() const = 0

Get the angular body velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular body velocity of the base link.

virtual std::array<double, 3> baseWorldLinearVelocity() const = 0

Get the linear mixed velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The linear mixed velocity of the base link.

virtual std::array<double, 3> baseWorldAngularVelocity() const = 0

Get the angular mixed velocity of the base link.

Todo:

Add link to the velocity representation documentation page.

Returns:

The angular mixed velocity of the base link.

virtual bool setBasePoseTarget(const std::array<double, 3> &position, const std::array<double, 4> &orientation) = 0

Set the pose target of the base link.

Parameters:

• position – The position target of the base link in world coordinates.

• orientation – The wxyz quaternion defining the orientation target of the base link wrt the world frame.

Returns:

True for success, false otherwise.

virtual bool setBasePositionTarget(const std::array<double, 3> &position) = 0

Set the position target of the base link.

Parameters:

position – The position target of the base link in world coordinates.

Returns:

True for success, false otherwise.

virtual bool setBaseOrientationTarget(const std::array<double, 4> &orientation) = 0

Set the orientation target of the base link.

Parameters:

orientation – The wxyz quaternion defining the orientation target of the base link wrt the world frame.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldVelocityTarget(const std::array<double, 3> &linear, const std::array<double, 3> &angular) = 0

Set the mixed velocity target of the base link.

Parameters:

• linear – The mixed linear velocity target of the base link.

• angular – The mixed angular velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldLinearVelocityTarget(const std::array<double, 3> &linear) = 0

Set the mixed linear velocity target of the base link.

Parameters:

linear – The mixed linear velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldAngularVelocityTarget(const std::array<double, 3> &angular) = 0

Set the mixed angular velocity target of the base link.

Parameters:

angular – The mixed angular velocity target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldLinearAccelerationTarget(const std::array<double, 3> &linear) = 0

Set the mixed linear acceleration target of the base link.

Parameters:

linear – The mixed linear acceleration target of the base link.

Returns:

True for success, false otherwise.

virtual bool setBaseWorldAngularAccelerationTarget(const std::array<double, 3> &angular) = 0

Set the mixed angular acceleration target of the base link.

Parameters:

angular – The mixed angular acceleration target of the base link.

Returns:

True for success, false otherwise.

virtual std::array<double, 3> basePositionTarget() const = 0

Get the position target of the base link.

Returns:

The position target of the base link.

virtual std::array<double, 4> baseOrientationTarget() const = 0

Get the orientation target of the base link.

Returns:

The quaternion defining the orientation target of the base link.

virtual std::array<double, 3> baseWorldLinearVelocityTarget() const = 0

Get the mixed linear velocity target of the base link.

Returns:

The mixed linear velocity target of the base link.

virtual std::array<double, 3> baseWorldAngularVelocityTarget() const = 0

Get the mixed angular velocity target of the base link.

Returns:

The mixed angular velocity target of the base link.

virtual std::array<double, 3> baseWorldLinearAccelerationTarget() const = 0

Get the mixed linear acceleration target of the base link.

Returns:

The mixed linear acceleration target of the base link.

virtual std::array<double, 3> baseWorldAngularAccelerationTarget() const = 0

Get the mixed angular acceleration target of the base link.

Returns:

The mixed angular acceleration target of the base link.

class World

Subclassed by scenario::gazebo::World, scenario::gazebo::World, scenario::gazebo::World

Public Functions

virtual bool valid() const = 0

Check if the world is valid.

Returns:

True if the world is valid, false otherwise.

virtual double time() const = 0

Get the simulated time.

Note

A physics plugin need to be part of the simulation in order to make the time flow.

Returns:

The simulated time.

virtual std::string name() const = 0

Get the name of the world.

Returns:

The name of the world.

virtual std::array<double, 3> gravity() const = 0

Get the gravity vector.

Returns:

The gravity vector.

virtual std::vector<std::string> modelNames() const = 0

Get the name of the models that are part of the world.

Returns:

The list of model names.

virtual ModelPtr getModel(const std::string &modelName) const = 0

Get a model part of the world.

Parameters:

modelName – The name of the model to get.

Returns:

The model if it is part of the world, nullptr otherwise.

virtual std::vector<ModelPtr> models(const std::vector<std::string> &modelNames = {}) const = 0

Get the models of the world.

Parameters:

modelNames – Optional vector of considered models. By default, World::modelNames is used.

Returns:

A vector of pointers to the model objects.

virtual bool valid() const = 0

Check if the world is valid.

Returns:

True if the world is valid, false otherwise.

virtual double time() const = 0

Get the simulated time.

Note

A physics plugin need to be part of the simulation in order to make the time flow.

Returns:

The simulated time.

virtual std::string name() const = 0

Get the name of the world.

Returns:

The name of the world.

virtual std::array<double, 3> gravity() const = 0

Get the gravity vector.

Returns:

The gravity vector.

virtual std::vector<std::string> modelNames() const = 0

Get the name of the models that are part of the world.

Returns:

The list of model names.

virtual ModelPtr getModel(const std::string &modelName) const = 0

Get a model part of the world.

Parameters:

modelName – The name of the model to get.

Returns:

The model if it is part of the world, nullptr otherwise.

virtual std::vector<ModelPtr> models(const std::vector<std::string> &modelNames = {}) const = 0

Get the models of the world.

Parameters:

modelNames – Optional vector of considered models. By default, World::modelNames is used.

Returns:

A vector of pointers to the model objects.

virtual bool valid() const = 0

Check if the world is valid.

Returns:

True if the world is valid, false otherwise.

virtual double time() const = 0

Get the simulated time.

Note

A physics plugin need to be part of the simulation in order to make the time flow.

Returns:

The simulated time.

virtual std::string name() const = 0

Get the name of the world.

Returns:

The name of the world.

virtual std::array<double, 3> gravity() const = 0

Get the gravity vector.

Returns:

The gravity vector.

virtual std::vector<std::string> modelNames() const = 0

Get the name of the models that are part of the world.

Returns:

The list of model names.

virtual ModelPtr getModel(const std::string &modelName) const = 0

Get a model part of the world.

Parameters:

modelName – The name of the model to get.

Returns:

The model if it is part of the world, nullptr otherwise.

virtual std::vector<ModelPtr> models(const std::vector<std::string> &modelNames = {}) const = 0

Get the models of the world.

Parameters:

modelNames – Optional vector of considered models. By default, World::modelNames is used.

Returns:

A vector of pointers to the model objects.

namespace utils

Functions

std::string getInstallPrefix()

Get the install prefix used by the CMake project.

Note

It is defined only if the project is installed in Developer mode.

Returns:

A string with the install prefix if the project is installed in Developer mode, an empty string otherwise.

class SignalManager