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ChainPtr | cloneChain () const |
| | Creates and returns a clone of this Chain.
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ChainPtr | cloneChain (const std::string &cloneName) const |
| | Creates and returns a clone of this Chain.
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MetaSkeletonPtr | cloneMetaSkeleton (const std::string &cloneName) const override |
| | Creates an identical clone of this MetaSkeleton.
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| bool | isStillChain () const |
| | Returns false if this Chain has been broken, or some new Branching has been added. More...
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LinkagePtr | cloneLinkage () const |
| | Creates and returns a clone of this Linkage.
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LinkagePtr | cloneLinkage (const std::string &cloneName) const |
| | Creates and returns a clone of this Linkage.
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MetaSkeletonPtr | cloneMetaSkeleton (const std::string &cloneName) const override |
| | Creates an identical clone of this MetaSkeleton.
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bool | isAssembled () const |
| | Returns false if the original assembly of this Linkage has been broken in some way.
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void | reassemble () |
| | Revert the assembly of this Linkage to its original structure.
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void | satisfyCriteria () |
| | Redefine this Linkage so that its Criteria is satisfied.
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ReferentialSkeleton & | operator= (const ReferentialSkeleton &_other)=delete |
| | Remove copy operator TODO(MXG): Consider allowing this.
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virtual | ~ReferentialSkeleton ()=default |
| | Default destructor.
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std::unique_ptr< common::LockableReference > | getLockableReference () const override |
| | Returns mutex.
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const std::string & | setName (const std::string &_name) override |
| | Set the name of this MetaSkeleton.
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const std::string & | getName () const override |
| | Get the name of this MetaSkeleton.
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std::size_t | getNumSkeletons () const |
| | Returns number of skeletons associated with this ReferentialSkeleton.
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| bool | hasSkeleton (const Skeleton *skel) const |
| | Returns whether this ReferentialSkeleton contains any BodyNode or Joint from skel. More...
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std::size_t | getNumBodyNodes () const override |
| | Get number of body nodes.
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BodyNode * | getBodyNode (std::size_t _idx) override |
| | Get BodyNode whose index is _idx.
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const BodyNode * | getBodyNode (std::size_t _idx) const override |
| | Get const BodyNode whose index is _idx.
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| BodyNode * | getBodyNode (const std::string &name) override |
| | Returns the BodyNode of given name. More...
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| const BodyNode * | getBodyNode (const std::string &name) const override |
| | Returns the BodyNode of given name. More...
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const std::vector< BodyNode * > & | getBodyNodes () override |
| | Get all the BodyNodes that are held by this MetaSkeleton.
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const std::vector< const BodyNode * > & | getBodyNodes () const override |
| | Get all the BodyNodes that are held by this MetaSkeleton.
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| std::vector< BodyNode * > | getBodyNodes (const std::string &name) override |
| | Returns all the BodyNodes of given name. More...
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| std::vector< const BodyNode * > | getBodyNodes (const std::string &name) const override |
| | Returns all the BodyNodes of given name. More...
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bool | hasBodyNode (const BodyNode *bodyNode) const override |
| | Returns whether this Skeleton contains bodyNode.
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| std::size_t | getIndexOf (const BodyNode *_bn, bool _warning=true) const override |
| | Get the index of a specific BodyNode within this ReferentialSkeleton. More...
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std::size_t | getNumJoints () const override |
| | Get number of Joints.
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Joint * | getJoint (std::size_t _idx) override |
| | Get Joint whose index is _idx.
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const Joint * | getJoint (std::size_t _idx) const override |
| | Get const Joint whose index is _idx.
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| Joint * | getJoint (const std::string &name) override |
| | Returns the Joint of given name. More...
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| |
| const Joint * | getJoint (const std::string &name) const override |
| | Returns the Joint of given name. More...
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std::vector< Joint * > | getJoints () override |
| | Returns all the joints that are held by this MetaSkeleton.
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| |
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std::vector< const Joint * > | getJoints () const override |
| | Returns all the joints that are held by this MetaSkeleton.
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| |
| std::vector< Joint * > | getJoints (const std::string &name) override |
| | Returns all the Joint of given name. More...
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| std::vector< const Joint * > | getJoints (const std::string &name) const override |
| | Returns all the Joint of given name. More...
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| |
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bool | hasJoint (const Joint *joint) const override |
| | Returns whether this Skeleton contains join.
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| |
| std::size_t | getIndexOf (const Joint *_joint, bool _warning=true) const override |
| | Get the index of a specific Joint within this ReferentialSkeleton. More...
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std::size_t | getNumDofs () const override |
| | Return the number of degrees of freedom in this skeleton.
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DegreeOfFreedom * | getDof (std::size_t _idx) override |
| | Get degree of freedom (aka generalized coordinate) whose index is _idx.
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const DegreeOfFreedom * | getDof (std::size_t _idx) const override |
| | Get degree of freedom (aka generalized coordinate) whose index is _idx.
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const std::vector< DegreeOfFreedom * > & | getDofs () override |
| | Get the vector of DegreesOfFreedom for this MetaSkeleton.
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std::vector< const DegreeOfFreedom * > | getDofs () const override |
| | Get a vector of const DegreesOfFreedom for this MetaSkeleton.
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| std::size_t | getIndexOf (const DegreeOfFreedom *_dof, bool _warning=true) const override |
| | Get the index of a specific DegreeOfFreedom within this ReferentialSkeleton. More...
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| math::Jacobian | getJacobian (const JacobianNode *_node) const override |
| | Get the spatial Jacobian targeting the origin of a BodyNode. More...
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| math::Jacobian | getJacobian (const JacobianNode *_node, const Frame *_inCoordinatesOf) const override |
| | Get the spatial Jacobian targeting the origin of a BodyNode. More...
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| |
| math::Jacobian | getJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const override |
| | Get the spatial Jacobian targeting an offset in a BodyNode. More...
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| math::Jacobian | getJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset, const Frame *_inCoordinatesOf) const override |
| | Get the spatial Jacobian targeting an offset in a BodyNode. More...
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| math::Jacobian | getWorldJacobian (const JacobianNode *_node) const override |
| | Get the spatial Jacobian targeting the origin of a BodyNode. More...
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| math::Jacobian | getWorldJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const override |
| | Get the spatial Jacobian targeting an offset in a BodyNode. More...
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| math::LinearJacobian | getLinearJacobian (const JacobianNode *_node, const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the linear Jacobian targeting the origin of a BodyNode. More...
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| |
| math::LinearJacobian | getLinearJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset, const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the linear Jacobian targeting an offset in a BodyNode. More...
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| |
| math::AngularJacobian | getAngularJacobian (const JacobianNode *_node, const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the angular Jacobian of a BodyNode. More...
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| math::Jacobian | getJacobianSpatialDeriv (const JacobianNode *_node) const override |
| | Get the spatial Jacobian time derivative targeting the origin of a BodyNode. More...
|
| |
| math::Jacobian | getJacobianSpatialDeriv (const JacobianNode *_node, const Frame *_inCoordinatesOf) const override |
| | Get the spatial Jacobian time derivative targeting the origin of a BodyNode. More...
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| |
| math::Jacobian | getJacobianSpatialDeriv (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const override |
| | Get the spatial Jacobian time derivative targeting an offset in a BodyNode. More...
|
| |
| math::Jacobian | getJacobianSpatialDeriv (const JacobianNode *_node, const Eigen::Vector3d &_localOffset, const Frame *_inCoordinatesOf) const override |
| | Get the spatial Jacobian time derivative targeting an offset in a BodyNode. More...
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| math::Jacobian | getJacobianClassicDeriv (const JacobianNode *_node) const override |
| | Get the spatial Jacobian (classical) time derivative targeting the origin of a BodyNode. More...
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| math::Jacobian | getJacobianClassicDeriv (const JacobianNode *_node, const Frame *_inCoordinatesOf) const override |
| | Get the spatial Jacobian (classical) time derivative targeting the origin a BodyNode. More...
|
| |
| math::Jacobian | getJacobianClassicDeriv (const JacobianNode *_node, const Eigen::Vector3d &_localOffset, const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the spatial Jacobian (classical) time derivative targeting an offset in a BodyNode. More...
|
| |
| math::LinearJacobian | getLinearJacobianDeriv (const JacobianNode *_node, const Frame *_inCoordinatesOf=Frame::World()) const override |
| | of a BodyNode. More...
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| |
| math::LinearJacobian | getLinearJacobianDeriv (const JacobianNode *_node, const Eigen::Vector3d &_localOffset, const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the linear Jacobian (classical) time derivative targeting an offset in a BodyNode. More...
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| |
| math::AngularJacobian | getAngularJacobianDeriv (const JacobianNode *_node, const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the angular Jacobian time derivative of a BodyNode. More...
|
| |
| double | getMass () const override |
| | Get the total mass of all BodyNodes in this ReferentialSkeleton. More...
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const Eigen::MatrixXd & | getMassMatrix () const override |
| | Get the Mass Matrix of the MetaSkeleton.
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| const Eigen::MatrixXd & | getAugMassMatrix () const override |
| | Get augmented mass matrix of the skeleton. More...
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const Eigen::MatrixXd & | getInvMassMatrix () const override |
| | Get inverse of Mass Matrix of the MetaSkeleton.
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const Eigen::MatrixXd & | getInvAugMassMatrix () const override |
| | Get inverse of augmented Mass Matrix of the MetaSkeleton.
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const Eigen::VectorXd & | getCoriolisForces () const override |
| | Get Coriolis force vector of the MetaSkeleton's BodyNodes.
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const Eigen::VectorXd & | getGravityForces () const override |
| | Get gravity force vector of the MetaSkeleton.
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| const Eigen::VectorXd & | getCoriolisAndGravityForces () const override |
| | Get combined vector of Coriolis force and gravity force of the MetaSkeleton. More...
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const Eigen::VectorXd & | getExternalForces () const override |
| | Get external force vector of the MetaSkeleton.
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const Eigen::VectorXd & | getConstraintForces () const override |
| | Get constraint force vector.
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void | clearExternalForces () override |
| | Clear the external forces of the BodyNodes in this MetaSkeleton.
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void | clearInternalForces () override |
| | Clear the internal forces of the BodyNodes in this MetaSkeleton.
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double | computeKineticEnergy () const override |
| | Get the kinetic energy of this MetaSkeleton.
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double | computePotentialEnergy () const override |
| | Get the potential energy of this MetaSkeleton.
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void | clearCollidingBodies () override |
| | Clear collision flags of the BodyNodes in this MetaSkeleton.
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Eigen::Vector3d | getCOM (const Frame *_withRespectTo=Frame::World()) const override |
| | Get the MetaSkeleton's COM with respect to any Frame (default is World Frame)
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Eigen::Vector6d | getCOMSpatialVelocity (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the Skeleton's COM spatial velocity in terms of any Frame (default is World Frame)
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Eigen::Vector3d | getCOMLinearVelocity (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the Skeleton's COM linear velocity in terms of any Frame (default is World Frame)
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Eigen::Vector6d | getCOMSpatialAcceleration (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the Skeleton's COM spatial acceleration in terms of any Frame (default is World Frame)
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Eigen::Vector3d | getCOMLinearAcceleration (const Frame *_relativeTo=Frame::World(), const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the MetaSkeleton's COM linear acceleration in terms of any Frame (default is World Frame)
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math::Jacobian | getCOMJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the MetaSkeleton's COM Jacobian in terms of any Frame (default is World Frame)
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math::LinearJacobian | getCOMLinearJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the MetaSkeleton's COM Linear Jacobian in terms of any Frame (default is World Frame)
|
| |
| math::Jacobian | getCOMJacobianSpatialDeriv (const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the Skeleton's COM Jacobian spatial time derivative in terms of any Frame (default is World Frame). More...
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| |
| math::LinearJacobian | getCOMLinearJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const override |
| | Get the Skeleton's COM Linear Jacobian time derivative in terms of any Frame (default is World Frame). More...
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| MetaSkeleton (const MetaSkeleton &)=delete |
| |
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virtual | ~MetaSkeleton ()=default |
| | Default destructor.
|
| |
|
MetaSkeletonPtr | cloneMetaSkeleton () const |
| | Creates an identical clone of this MetaSkeleton.
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| |
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void | setCommand (std::size_t _index, double _command) |
| | Set a single command.
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double | getCommand (std::size_t _index) const |
| | Get a single command.
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| |
|
void | setCommands (const Eigen::VectorXd &_commands) |
| | Set commands for all generalized coordinates.
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void | setCommands (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_commands) |
| | Set commands for a subset of the generalized coordinates.
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| |
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Eigen::VectorXd | getCommands () const |
| | Get commands for all generalized coordinates.
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Eigen::VectorXd | getCommands (const std::vector< std::size_t > &_indices) const |
| | Get commands for a subset of the generalized coordinates.
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| |
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void | resetCommands () |
| | Set all commands to zero.
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| |
|
void | setPosition (std::size_t index, double _position) |
| | Set the position of a single generalized coordinate.
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| |
|
double | getPosition (std::size_t _index) const |
| | Get the position of a single generalized coordinate.
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| |
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void | setPositions (const Eigen::VectorXd &_positions) |
| | Set the positions for all generalized coordinates.
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void | setPositions (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_positions) |
| | Set the positions for a subset of the generalized coordinates.
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| |
|
Eigen::VectorXd | getPositions () const |
| | Get the positions for all generalized coordinates.
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| |
|
Eigen::VectorXd | getPositions (const std::vector< std::size_t > &_indices) const |
| | Get the positions for a subset of the generalized coordinates.
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| |
|
void | resetPositions () |
| | Set all positions to zero.
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| |
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void | setPositionLowerLimit (std::size_t _index, double _position) |
| | Set the lower limit of a generalized coordinate's position.
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| |
|
void | setPositionLowerLimits (const Eigen::VectorXd &positions) |
| | Set the lower limits for all generalized coordinates.
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| |
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void | setPositionLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &positions) |
| | Set the lower limits for a subset of the generalized coordinates.
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| |
|
double | getPositionLowerLimit (std::size_t _index) const |
| | Get the lower limit of a generalized coordinate's position.
|
| |
|
Eigen::VectorXd | getPositionLowerLimits () const |
| | Get the lower limits for all generalized coordinates.
|
| |
|
Eigen::VectorXd | getPositionLowerLimits (const std::vector< std::size_t > &indices) const |
| | Get the lower limits for a subset of the generalized coordinates.
|
| |
|
void | setPositionUpperLimit (std::size_t _index, double _position) |
| | Set the upper limit of a generalized coordainte's position.
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| |
|
void | setPositionUpperLimits (const Eigen::VectorXd &positions) |
| | Set the upper limits for all generalized coordinates.
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| |
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void | setPositionUpperLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &positions) |
| | Set the upper limits for a subset of the generalized coordinates.
|
| |
|
double | getPositionUpperLimit (std::size_t _index) const |
| | Get the upper limit of a generalized coordinate's position.
|
| |
|
Eigen::VectorXd | getPositionUpperLimits () const |
| | Get the upper limits for all generalized coordinates.
|
| |
|
Eigen::VectorXd | getPositionUpperLimits (const std::vector< std::size_t > &indices) const |
| | Get the upper limits for a subset of the generalized coordinates.
|
| |
|
void | setVelocity (std::size_t _index, double _velocity) |
| | Set the velocity of a single generalized coordinate.
|
| |
|
double | getVelocity (std::size_t _index) const |
| | Get the velocity of a single generalized coordinate.
|
| |
|
void | setVelocities (const Eigen::VectorXd &_velocities) |
| | Set the velocities of all generalized coordinates.
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| |
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void | setVelocities (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_velocities) |
| | Set the velocities of a subset of the generalized coordinates.
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| |
|
Eigen::VectorXd | getVelocities () const |
| | Get the velocities for all generalized coordinates.
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| |
|
Eigen::VectorXd | getVelocities (const std::vector< std::size_t > &_indices) const |
| | Get the velocities for a subset of the generalized coordinates.
|
| |
|
void | resetVelocities () |
| | Set all velocities to zero.
|
| |
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void | setVelocityLowerLimit (std::size_t _index, double _velocity) |
| | Set the lower limit of a generalized coordinate's velocity.
|
| |
|
void | setVelocityLowerLimits (const Eigen::VectorXd &velocities) |
| | Set the lower limits for all generalized coordinates's velocity.
|
| |
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void | setVelocityLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &velocities) |
| | Set the lower limits for a subset of the generalized coordinates's velocity.
|
| |
|
double | getVelocityLowerLimit (std::size_t _index) |
| | Get the lower limit of a generalized coordinate's velocity.
|
| |
|
Eigen::VectorXd | getVelocityLowerLimits () const |
| | Get the lower limits for all generalized coordinates's velocity.
|
| |
|
Eigen::VectorXd | getVelocityLowerLimits (const std::vector< std::size_t > &indices) const |
| | Get the lower limits for a subset of the generalized coordinates's velocity.
|
| |
|
void | setVelocityUpperLimit (std::size_t _index, double _velocity) |
| | Set the upper limit of a generalized coordinate's velocity.
|
| |
|
void | setVelocityUpperLimits (const Eigen::VectorXd &velocities) |
| | Set the upper limits for all generalized coordinates's velocity.
|
| |
|
void | setVelocityUpperLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &velocities) |
| | Set the upper limits for a subset of the generalized coordinates's velocity.
|
| |
|
double | getVelocityUpperLimit (std::size_t _index) |
| | Get the upper limit of a generalized coordinate's velocity.
|
| |
|
Eigen::VectorXd | getVelocityUpperLimits () const |
| | Get the upper limits for all generalized coordinates's velocity.
|
| |
|
Eigen::VectorXd | getVelocityUpperLimits (const std::vector< std::size_t > &indices) const |
| | Get the upper limits for a subset of the generalized coordinates's velocity.
|
| |
|
void | setAcceleration (std::size_t _index, double _acceleration) |
| | Set the acceleration of a single generalized coordinate.
|
| |
|
double | getAcceleration (std::size_t _index) const |
| | Get the acceleration of a single generalized coordinate.
|
| |
|
void | setAccelerations (const Eigen::VectorXd &_accelerations) |
| | Set the accelerations of all generalized coordinates.
|
| |
|
void | setAccelerations (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_accelerations) |
| | Set the accelerations of a subset of the generalized coordinates.
|
| |
|
Eigen::VectorXd | getAccelerations () const |
| | Get the accelerations for all generalized coordinates.
|
| |
|
Eigen::VectorXd | getAccelerations (const std::vector< std::size_t > &_indices) const |
| | Get the accelerations for a subset of the generalized coordinates.
|
| |
|
void | resetAccelerations () |
| | Set all accelerations to zero.
|
| |
|
void | setAccelerationLowerLimit (std::size_t _index, double _acceleration) |
| | Set the lower limit of a generalized coordinate's acceleration.
|
| |
|
void | setAccelerationLowerLimits (const Eigen::VectorXd &accelerations) |
| | Set the lower limits for all generalized coordinates's acceleration.
|
| |
|
void | setAccelerationLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &accelerations) |
| | Set the lower limits for a subset of the generalized coordinates's acceleration.
|
| |
|
double | getAccelerationLowerLimit (std::size_t _index) const |
| | Get the lower limit of a generalized coordinate's acceleration.
|
| |
|
Eigen::VectorXd | getAccelerationLowerLimits () const |
| | Get the lower limits for all generalized coordinates's acceleration.
|
| |
|
Eigen::VectorXd | getAccelerationLowerLimits (const std::vector< std::size_t > &indices) const |
| | Get the lower limits for a subset of the generalized coordinates's acceleration.
|
| |
|
void | setAccelerationUpperLimit (std::size_t _index, double _acceleration) |
| | Set the upper limit of a generalized coordinate's acceleration.
|
| |
|
void | setAccelerationUpperLimits (const Eigen::VectorXd &accelerations) |
| | Set the upper limits for all generalized coordinates's acceleration.
|
| |
|
void | setAccelerationUpperLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &accelerations) |
| | Set the upper limits for a subset of the generalized coordinates's acceleration.
|
| |
|
double | getAccelerationUpperLimit (std::size_t _index) const |
| | Get the upper limit of a generalized coordinate's acceleration.
|
| |
|
Eigen::VectorXd | getAccelerationUpperLimits () const |
| | Get the upper limits for all generalized coordinates's acceleration.
|
| |
|
Eigen::VectorXd | getAccelerationUpperLimits (const std::vector< std::size_t > &indices) const |
| | Get the upper limits for a subset of the generalized coordinates's acceleration.
|
| |
|
void | setForce (std::size_t _index, double _force) |
| | Set the force of a single generalized coordinate.
|
| |
|
double | getForce (std::size_t _index) const |
| | Get the force of a single generalized coordinate.
|
| |
|
void | setForces (const Eigen::VectorXd &_forces) |
| | Set the forces of all generalized coordinates.
|
| |
|
void | setForces (const std::vector< std::size_t > &_index, const Eigen::VectorXd &_forces) |
| | Set the forces of a subset of the generalized coordinates.
|
| |
|
Eigen::VectorXd | getForces () const |
| | Get the forces for all generalized coordinates.
|
| |
|
Eigen::VectorXd | getForces (const std::vector< std::size_t > &_indices) const |
| | Get the forces for a subset of the generalized coordinates.
|
| |
|
void | resetGeneralizedForces () |
| | Set all forces of the generalized coordinates to zero.
|
| |
|
void | setForceLowerLimit (std::size_t _index, double _force) |
| | Set the lower limit of a generalized coordinate's force.
|
| |
|
void | setForceLowerLimits (const Eigen::VectorXd &forces) |
| | Set the lower limits for all generalized coordinates's force.
|
| |
|
void | setForceLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &forces) |
| | Set the lower limits for a subset of the generalized coordinates's force.
|
| |
|
double | getForceLowerLimit (std::size_t _index) const |
| | Get the lower limit of a generalized coordinate's force.
|
| |
|
Eigen::VectorXd | getForceLowerLimits () const |
| | Get the lower limits for all generalized coordinates's force.
|
| |
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Eigen::VectorXd | getForceLowerLimits (const std::vector< std::size_t > &indices) const |
| | Get the lower limits for a subset of the generalized coordinates's force.
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void | setForceUpperLimit (std::size_t _index, double _force) |
| | Set the upper limit of a generalized coordinate's force.
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void | setForceUpperLimits (const Eigen::VectorXd &forces) |
| | Set the upperlimits for all generalized coordinates's force.
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void | setForceUpperLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &forces) |
| | Set the upper limits for a subset of the generalized coordinates's force.
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double | getForceUpperLimit (std::size_t _index) const |
| | Get the upper limit of a generalized coordinate's force.
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Eigen::VectorXd | getForceUpperLimits () const |
| | Get the upper limits for all generalized coordinates's force.
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Eigen::VectorXd | getForceUpperLimits (const std::vector< std::size_t > &indices) const |
| | Get the upper limits for a subset of the generalized coordinates's force.
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Eigen::VectorXd | getVelocityChanges () const |
| | Get the velocity changes for all the generalized coordinates.
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void | setJointConstraintImpulses (const Eigen::VectorXd &_impulses) |
| | Set the constraint impulses for the generalized coordinates.
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Eigen::VectorXd | getJointConstraintImpulses () const |
| | Get the constraint impulses for the generalized coordinates.
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| math::Jacobian | getJacobian (const JacobianNode *_node, const JacobianNode *_relativeTo, const Frame *_inCoordinatesOf) const |
| | Get the spatial Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...
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| math::Jacobian | getJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset, const JacobianNode *_relativeTo, const Frame *_inCoordinatesOf) const |
| | Get the spatial Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton. More...
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| math::LinearJacobian | getLinearJacobian (const JacobianNode *_node, const JacobianNode *_relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const |
| | Get the linear Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...
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| math::LinearJacobian | getLinearJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset, const JacobianNode *_relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const |
| | Get the linear Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton. More...
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| math::AngularJacobian | getAngularJacobian (const JacobianNode *_node, const JacobianNode *_relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const |
| | Get the angular Jacobian of a BodyNode relative to another BodyNode in the same Skeleton. More...
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| math::Jacobian | getJacobianSpatialDeriv (const JacobianNode *_node, const JacobianNode *_relativeTo, const Frame *_inCoordinatesOf) const |
| | Get the spatial Jacobian time derivative targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...
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| math::Jacobian | getJacobianSpatialDeriv (const JacobianNode *_node, const Eigen::Vector3d &_localOffset, const JacobianNode *_relativeTo, const Frame *_inCoordinatesOf) const |
| | Get the spatial Jacobian time derivative targeting an offset in a BodyNode relative to another Bodynode in the same Skeleton. More...
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double | computeLagrangian () const |
| | Compute and return Lagrangian of this MetaSkeleton.
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double | getKineticEnergy () const |
| | Get the kinetic energy of this MetaSkeleton.
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double | getPotentialEnergy () const |
| | Get the potential energy of this MetaSkeleton.
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virtual | ~Subject () |
| | Destructor will notify all Observers that it is destructing.
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Public Types inherited from dart::dynamics::MetaSkeleton