Inheritance diagram for dart::dynamics::FixedJacobianNode:
Collaboration diagram for dart::dynamics::FixedJacobianNode:
Classes | |
| struct | Cache |
Public Member Functions | |
| void | setRelativeTransform (const Eigen::Isometry3d &newRelativeTf) override |
| Set the current relative transform of this Fixed Frame. | |
| bool | dependsOn (std::size_t _genCoordIndex) const override |
| std::size_t | getNumDependentGenCoords () const override |
| std::size_t | getDependentGenCoordIndex (std::size_t _arrayIndex) const override |
| const std::vector< std::size_t > & | getDependentGenCoordIndices () const override |
| std::size_t | getNumDependentDofs () const override |
| DegreeOfFreedom * | getDependentDof (std::size_t _index) override |
| const DegreeOfFreedom * | getDependentDof (std::size_t _index) const override |
| const std::vector< DegreeOfFreedom * > & | getDependentDofs () override |
| const std::vector< const DegreeOfFreedom * > & | getDependentDofs () const override |
| const std::vector< const DegreeOfFreedom * > | getChainDofs () const override |
Jacobian Functions | |
| const math::Jacobian & | getJacobian () const override final |
| const math::Jacobian & | getWorldJacobian () const override final |
| const math::Jacobian & | getJacobianSpatialDeriv () const override final |
| const math::Jacobian & | getJacobianClassicDeriv () const override final |
 Public Member Functions inherited from dart::dynamics::AccessoryNode< FixedJacobianNode > | |
| virtual | ~AccessoryNode ()=default |
| Virtual destructor. | |
| std::size_t | getIndexInBodyNode () const |
| Get the index of this Node within its BodyNode. | |
| std::size_t | getIndexInSkeleton () const |
| Get the index of this Node within its Skeleton. | |
| std::size_t | getIndexInTree () const |
| Get the index of this Node within its tree. | |
| std::size_t | getTreeIndex () const |
| Get the index of this Node's tree within its Skeleton. | |
| void | remove () |
| Stage the Node for removal. More... | |
| void | reattach () |
| Undo the effectos of calling remove(). More... | |
Protected Member Functions | |
| FixedJacobianNode (BodyNode *parent, const Eigen::Isometry3d &transform) | |
| Constructor. | |
| FixedJacobianNode (const std::tuple< BodyNode *, Eigen::Isometry3d > &args) | |
| Tuple constructor. | |
| void | updateBodyJacobian () const |
| Update the Jacobian of this Fixed Frame. More... | |
| void | updateWorldJacobian () const |
| Update the World Jacobian cache. | |
| void | updateBodyJacobianSpatialDeriv () const |
| Update the spatial time derivative of the Fixed Frame Jacobian. More... | |
| void | updateWorldJacobianClassicDeriv () const |
| Update the classic time derivative of the Fixed Frame Jacobian. More... | |
| Protected Member Functions inherited from dart::dynamics::AccessoryNode< FixedJacobianNode > | |
| AccessoryNode ()=default | |
| Prevent a non-inheriting class from constructing one. | |
Protected Attributes | |
| Cache | mCache |
Member Function Documentation
◆ updateBodyJacobian()
|
protected |
Update the Jacobian of this Fixed Frame.
getJacobian() calls this function if mIsBodyJacobianDirty is true.
◆ updateBodyJacobianSpatialDeriv()
|
protected |
Update the spatial time derivative of the Fixed Frame Jacobian.
getJacobianSpatialDeriv() calls this function if mIsBodyJacobianSpatialDerivDirty is true.
◆ updateWorldJacobianClassicDeriv()
|
protected |
Update the classic time derivative of the Fixed Frame Jacobian.
getJacobianClassicDeriv() calls this function if mIsWorldJacobianClassicDerivDirty is true.
The documentation for this class was generated from the following files:
- dart/dynamics/FixedJacobianNode.hpp
- dart/dynamics/FixedJacobianNode.cpp
