#include <FreeJoint.hpp>

Inheritance diagram for dart::dynamics::FreeJoint:

Collaboration diagram for dart::dynamics::FreeJoint:

Classes
struct	Properties

Public Types
using	Base = GenericJoint< math::SE3Space >

Public Types inherited from dart::dynamics::GenericJoint< math::SE3Space >
using	ThisClass = GenericJoint< math::SE3Space >

using	Base = detail::GenericJointBase< ThisClass, math::SE3Space >

using	Point = typename math::SE3Space ::Point

using	EuclideanPoint = typename math::SE3Space ::EuclideanPoint

using	Vector = typename math::SE3Space ::Vector

using	JacobianMatrix = typename math::SE3Space ::JacobianMatrix

using	Matrix = typename math::SE3Space ::Matrix

using	UniqueProperties = detail::GenericJointUniqueProperties< math::SE3Space >

using	Properties = detail::GenericJointProperties< math::SE3Space >

using	AspectState = typename Base::AspectState

using	AspectProperties = typename Base::AspectProperties

Public Types inherited from dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >
using	Impl = EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >

using	Derived = typename Impl::Derived

using	AspectStateData = typename Impl::AspectStateData

using	AspectState = typename Impl::AspectState

using	AspectPropertiesData = typename Impl::AspectPropertiesData

using	AspectProperties = typename Impl::AspectProperties

using	Aspect = typename Impl::Aspect

using	Base = CompositeJoiner< Impl, CompositeBases... >

Public Member Functions
	FreeJoint (const FreeJoint &)=delete

virtual	~FreeJoint ()
	Destructor.

Properties	getFreeJointProperties () const
	Get the Properties of this FreeJoint.

const std::string &	getType () const override

bool	isCyclic (std::size_t _index) const override

void	setSpatialMotion (const Eigen::Isometry3d newTransform, const Frame withRespectTo, const Eigen::Vector6d newSpatialVelocity, const Frame velRelativeTo, const Frame velInCoordinatesOf, const Eigen::Vector6d newSpatialAcceleration, const Frame accRelativeTo, const Frame accInCoordinatesOf)
	Set the transform, spatial velocity, and spatial acceleration of the child BodyNode relative to an arbitrary Frame. More...

void	setRelativeTransform (const Eigen::Isometry3d &newTransform)
	Set the transform of the child BodyNode relative to the parent BodyNode. More...

void	setTransform (const Eigen::Isometry3d &newTransform, const Frame *withRespectTo=Frame::World())
	Set the transform of the child BodyNode relative to an arbitrary Frame. More...

void	setRelativeSpatialVelocity (const Eigen::Vector6d &newSpatialVelocity)
	Set the spatial velocity of the child BodyNode relative to the parent BodyNode. More...

void	setRelativeSpatialVelocity (const Eigen::Vector6d &newSpatialVelocity, const Frame *inCoordinatesOf)
	Set the spatial velocity of the child BodyNode relative to the parent BodyNode. More...

void	setSpatialVelocity (const Eigen::Vector6d &newSpatialVelocity, const Frame relativeTo, const Frame inCoordinatesOf)
	Set the spatial velocity of the child BodyNode relative to an arbitrary Frame. More...

void	setLinearVelocity (const Eigen::Vector3d &newLinearVelocity, const Frame relativeTo=Frame::World(), const Frame inCoordinatesOf=Frame::World())
	Set the linear portion of classical velocity of the child BodyNode relative to an arbitrary Frame. More...

void	setAngularVelocity (const Eigen::Vector3d &newAngularVelocity, const Frame relativeTo=Frame::World(), const Frame inCoordinatesOf=Frame::World())
	Set the angular portion of classical velocity of the child BodyNode relative to an arbitrary Frame. More...

void	setRelativeSpatialAcceleration (const Eigen::Vector6d &newSpatialAcceleration)
	Set the spatial acceleration of the child BodyNode relative to the parent BodyNode. More...

void	setRelativeSpatialAcceleration (const Eigen::Vector6d &newSpatialAcceleration, const Frame *inCoordinatesOf)
	Set the spatial acceleration of the child BodyNode relative to the parent BodyNode. More...

void	setSpatialAcceleration (const Eigen::Vector6d &newSpatialAcceleration, const Frame relativeTo, const Frame inCoordinatesOf)
	Set the spatial acceleration of the child BodyNode relative to an arbitrary Frame. More...

void	setLinearAcceleration (const Eigen::Vector3d &newLinearAcceleration, const Frame relativeTo=Frame::World(), const Frame inCoordinatesOf=Frame::World())
	Set the linear portion of classical acceleration of the child BodyNode relative to an arbitrary Frame. More...

void	setAngularAcceleration (const Eigen::Vector3d &newAngularAcceleration, const Frame relativeTo=Frame::World(), const Frame inCoordinatesOf=Frame::World())
	Set the angular portion of classical acceleration of the child BodyNode relative to an arbitrary Frame. More...

Eigen::Matrix6d	getRelativeJacobianStatic (const Eigen::Vector6d &_positions) const override

Eigen::Vector6d	getPositionDifferencesStatic (const Eigen::Vector6d &_q2, const Eigen::Vector6d &_q1) const override

Public Member Functions inherited from dart::dynamics::GenericJoint< math::SE3Space >
	DART_BAKE_SPECIALIZED_ASPECT_IRREGULAR (typename ThisClass::Aspect, GenericJointAspect) GenericJoint(const ThisClass &)=delete

virtual	~GenericJoint ()
	Destructor.

void	setProperties (const Properties &properties)
	Set the Properties of this GenericJoint.

void	setProperties (const UniqueProperties &properties)
	Set the Properties of this GenericJoint.

void	setAspectState (const AspectState &state)
	Set the AspectState of this GenericJoint.

void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this GenericJoint.

Properties	getGenericJointProperties () const
	Get the Properties of this GenericJoint.

void	copy (const ThisClass &otherJoint)
	Copy the Properties of another GenericJoint.

void	copy (const ThisClass *otherJoint)
	Copy the Properties of another GenericJoint.

ThisClass &	operator= (const ThisClass &other)
	Same as copy(const GenericJoint&)

Eigen::Vector6d	getBodyConstraintWrench () const override

DegreeOfFreedom *	getDof (std::size_t index) override

const DegreeOfFreedom *	getDof (std::size_t _index) const override

std::size_t	getNumDofs () const override

const std::string &	setDofName (std::size_t index, const std::string &name, bool preserveName=true) override

void	preserveDofName (size_t index, bool preserve) override

bool	isDofNamePreserved (size_t index) const override

const std::string &	getDofName (size_t index) const override

size_t	getIndexInSkeleton (size_t index) const override

size_t	getIndexInTree (size_t index) const override

void	setCommand (std::size_t index, double command) override

double	getCommand (std::size_t index) const override

void	setCommands (const Eigen::VectorXd &commands) override

Eigen::VectorXd	getCommands () const override

void	resetCommands () override

void	setPosition (std::size_t index, double position) override

double	getPosition (std::size_t index) const override

void	setPositions (const Eigen::VectorXd &positions) override

Eigen::VectorXd	getPositions () const override

void	setPositionLowerLimit (std::size_t index, double position) override

double	getPositionLowerLimit (std::size_t index) const override

void	setPositionLowerLimits (const Eigen::VectorXd &lowerLimits) override

Eigen::VectorXd	getPositionLowerLimits () const override

void	setPositionUpperLimit (std::size_t index, double position) override

double	getPositionUpperLimit (std::size_t index) const override

void	setPositionUpperLimits (const Eigen::VectorXd &upperLimits) override

Eigen::VectorXd	getPositionUpperLimits () const override

bool	hasPositionLimit (std::size_t index) const override

void	resetPosition (std::size_t index) override

void	resetPositions () override

void	setInitialPosition (std::size_t index, double initial) override

double	getInitialPosition (std::size_t index) const override

void	setInitialPositions (const Eigen::VectorXd &initial) override

Eigen::VectorXd	getInitialPositions () const override

void	setPositionsStatic (const Vector &positions)
	Fixed-size version of setPositions()

const Vector &	getPositionsStatic () const
	Fixed-size version of getPositions()

void	setVelocitiesStatic (const Vector &velocities)
	Fixed-size version of setVelocities()

const Vector &	getVelocitiesStatic () const
	Fixed-size version of getVelocities()

void	setAccelerationsStatic (const Vector &accels)
	Fixed-size version of setAccelerations()

const Vector &	getAccelerationsStatic () const
	Fixed-size version of getAccelerations()

void	setVelocity (std::size_t index, double velocity) override

double	getVelocity (std::size_t index) const override

void	setVelocities (const Eigen::VectorXd &velocities) override

Eigen::VectorXd	getVelocities () const override

void	setVelocityLowerLimit (std::size_t index, double velocity) override

double	getVelocityLowerLimit (std::size_t index) const override

void	setVelocityLowerLimits (const Eigen::VectorXd &lowerLimits) override

Eigen::VectorXd	getVelocityLowerLimits () const override

void	setVelocityUpperLimit (std::size_t index, double velocity) override

double	getVelocityUpperLimit (std::size_t index) const override

void	setVelocityUpperLimits (const Eigen::VectorXd &upperLimits) override

Eigen::VectorXd	getVelocityUpperLimits () const override

void	resetVelocity (std::size_t index) override

void	resetVelocities () override

void	setInitialVelocity (std::size_t index, double initial) override

double	getInitialVelocity (std::size_t index) const override

void	setInitialVelocities (const Eigen::VectorXd &initial) override

Eigen::VectorXd	getInitialVelocities () const override

void	setAcceleration (std::size_t index, double acceleration) override

double	getAcceleration (std::size_t index) const override

void	setAccelerations (const Eigen::VectorXd &accelerations) override

Eigen::VectorXd	getAccelerations () const override

void	setAccelerationLowerLimit (size_t index, double acceleration) override

double	getAccelerationLowerLimit (std::size_t index) const override

void	setAccelerationLowerLimits (const Eigen::VectorXd &lowerLimits) override

Eigen::VectorXd	getAccelerationLowerLimits () const override

void	setAccelerationUpperLimit (std::size_t index, double acceleration) override

double	getAccelerationUpperLimit (std::size_t index) const override

void	setAccelerationUpperLimits (const Eigen::VectorXd &upperLimits) override

Eigen::VectorXd	getAccelerationUpperLimits () const override

void	resetAccelerations () override

void	setForce (std::size_t index, double force) override

double	getForce (std::size_t index) const override

void	setForces (const Eigen::VectorXd &forces) override

Eigen::VectorXd	getForces () const override

void	setForceLowerLimit (size_t index, double force) override

double	getForceLowerLimit (std::size_t index) const override

void	setForceLowerLimits (const Eigen::VectorXd &lowerLimits) override

Eigen::VectorXd	getForceLowerLimits () const override

void	setForceUpperLimit (size_t index, double force) override

double	getForceUpperLimit (size_t index) const override

void	setForceUpperLimits (const Eigen::VectorXd &upperLimits) override

Eigen::VectorXd	getForceUpperLimits () const override

void	resetForces () override

void	setVelocityChange (std::size_t index, double velocityChange) override

double	getVelocityChange (std::size_t index) const override

void	resetVelocityChanges () override

void	setConstraintImpulse (std::size_t index, double impulse) override

double	getConstraintImpulse (std::size_t index) const override

void	resetConstraintImpulses () override

void	integratePositions (double dt) override

void	integrateVelocities (double dt) override

Eigen::VectorXd	getPositionDifferences (const Eigen::VectorXd &q2, const Eigen::VectorXd &q1) const override

virtual Vector	getPositionDifferencesStatic (const Vector &q2, const Vector &q1) const
	Fixed-size version of getPositionDifferences()

void	setSpringStiffness (std::size_t index, double k) override

double	getSpringStiffness (std::size_t index) const override

void	setRestPosition (std::size_t index, double q0) override

double	getRestPosition (std::size_t index) const override

void	setDampingCoefficient (std::size_t index, double coeff) override

double	getDampingCoefficient (std::size_t index) const override

void	setCoulombFriction (std::size_t index, double friction) override

double	getCoulombFriction (std::size_t index) const override

double	computePotentialEnergy () const override

const math::Jacobian	getRelativeJacobian () const override

math::Jacobian	getRelativeJacobian (const Eigen::VectorXd &_positions) const override

const GenericJoint< math::SE3Space >::JacobianMatrix &	getRelativeJacobianStatic () const
	Fixed-size version of getRelativeJacobian()

virtual JacobianMatrix	getRelativeJacobianStatic (const Vector &positions) const=0
	Fixed-size version of getRelativeJacobian(positions)

const math::Jacobian	getRelativeJacobianTimeDeriv () const override

const JacobianMatrix &	getRelativeJacobianTimeDerivStatic () const
	Fixed-size version of getRelativeJacobianTimeDeriv()

Public Member Functions inherited from dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >
template<typename... Args>
	EmbedStateAndPropertiesOnTopOf (Args &&... args)

Static Public Member Functions
static const std::string &	getStaticType ()
	Get joint type for this class.

static Eigen::Vector6d	convertToPositions (const Eigen::Isometry3d &_tf)
	Convert a transform into a 6D vector that can be used to set the positions of a FreeJoint. More...

static Eigen::Isometry3d	convertToTransform (const Eigen::Vector6d &_positions)
	Convert a FreeJoint-style 6D vector into a transform.

static void	setTransform (Joint joint, const Eigen::Isometry3d &tf, const Frame withRespectTo=Frame::World())
	If the given joint is a FreeJoint, then set the transform of the given Joint's child BodyNode so that its transform with respect to "withRespecTo" is equal to "tf". More...

static void	setTransformOf (Joint joint, const Eigen::Isometry3d &tf, const Frame withRespectTo=Frame::World())
	If the given joint is a FreeJoint, then set the transform of the given Joint's child BodyNode so that its transform with respect to "withRespecTo" is equal to "tf". More...

static void	setTransform (BodyNode bodyNode, const Eigen::Isometry3d &tf, const Frame withRespectTo=Frame::World())
	If the parent Joint of the given BodyNode is a FreeJoint, then set the transform of the given BodyNode so that its transform with respect to "withRespecTo" is equal to "tf". More...

static void	setTransformOf (BodyNode bodyNode, const Eigen::Isometry3d &tf, const Frame withRespectTo=Frame::World())
	If the parent Joint of the given BodyNode is a FreeJoint, then set the transform of the given BodyNode so that its transform with respect to "withRespecTo" is equal to "tf". More...

static void	setTransform (Skeleton skeleton, const Eigen::Isometry3d &tf, const Frame withRespectTo=Frame::World(), bool applyToAllRootBodies=true)
	Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes of the given Skeleton. More...

static void	setTransformOf (Skeleton skeleton, const Eigen::Isometry3d &tf, const Frame withRespectTo=Frame::World(), bool applyToAllRootBodies=true)
	Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes of the given Skeleton. More...

Protected Member Functions
	FreeJoint (const Properties &properties)
	Constructor called by Skeleton class.

Joint *	clone () const override

void	integratePositions (double _dt) override

void	updateDegreeOfFreedomNames () override

void	updateRelativeTransform () const override

void	updateRelativeJacobian (bool _mandatory=true) const override

void	updateRelativeJacobianTimeDeriv () const override

const Eigen::Isometry3d &	getQ () const
	Access mQ, which is an auto-updating variable.

Protected Member Functions inherited from dart::dynamics::GenericJoint< math::SE3Space >
	GenericJoint (const Properties &properties)

void	registerDofs () override

void	addChildBiasForceForInvMassMatrix (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce) override

void	addChildBiasForceForInvAugMassMatrix (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce) override

void	updateTotalForceForInvMassMatrix (const Eigen::Vector6d &bodyForce) override

void	getInvMassMatrixSegment (Eigen::MatrixXd &invMassMat, const size_t col, const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc) override

void	getInvAugMassMatrixSegment (Eigen::MatrixXd &invMassMat, const size_t col, const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc) override

void	addInvMassMatrixSegmentTo (Eigen::Vector6d &acc) override

Eigen::VectorXd	getSpatialToGeneralized (const Eigen::Vector6d &spatial) override

const Matrix &	getInvProjArtInertia () const
	Get the inverse of the projected articulated inertia.

const Matrix &	getInvProjArtInertiaImplicit () const
	Get the inverse of projected articulated inertia for implicit joint damping and spring forces.

void	updateRelativeSpatialVelocity () const override

void	updateRelativeSpatialAcceleration () const override

void	updateRelativePrimaryAcceleration () const override

void	addVelocityTo (Eigen::Vector6d &vel) override

void	setPartialAccelerationTo (Eigen::Vector6d &partialAcceleration, const Eigen::Vector6d &childVelocity) override

void	addAccelerationTo (Eigen::Vector6d &acc) override

void	addVelocityChangeTo (Eigen::Vector6d &velocityChange) override

void	addChildArtInertiaTo (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia) override

void	addChildArtInertiaImplicitTo (Eigen::Matrix6d &parentArtInertiaImplicit, const Eigen::Matrix6d &childArtInertiaImplicit) override

void	updateInvProjArtInertia (const Eigen::Matrix6d &artInertia) override

void	updateInvProjArtInertiaImplicit (const Eigen::Matrix6d &artInertia, double timeStep) override

void	addChildBiasForceTo (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce, const Eigen::Vector6d &childPartialAcc) override

void	addChildBiasImpulseTo (Eigen::Vector6d &parentBiasImpulse, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasImpulse) override

void	updateTotalForce (const Eigen::Vector6d &bodyForce, double timeStep) override

void	updateTotalImpulse (const Eigen::Vector6d &bodyImpulse) override

void	resetTotalImpulses () override

void	updateAcceleration (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc) override

void	updateVelocityChange (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &velocityChange) override

void	updateForceID (const Eigen::Vector6d &bodyForce, double timeStep, bool withDampingForces, bool withSpringForces) override

void	updateForceFD (const Eigen::Vector6d &bodyForce, double timeStep, bool withDampingForcese, bool withSpringForces) override

void	updateImpulseID (const Eigen::Vector6d &bodyImpulse) override

void	updateImpulseFD (const Eigen::Vector6d &bodyImpulse) override

void	updateConstrainedTerms (double timeStep) override

Protected Attributes
Eigen::Isometry3d	mQ
	Transformation matrix dependent on generalized coordinates. More...

Protected Attributes inherited from dart::dynamics::GenericJoint< math::SE3Space >
std::array< DegreeOfFreedom *, NumDofs >	mDofs
	Array of DegreeOfFreedom objects.

Vector	mVelocityChanges
	Change of generalized velocity.

Vector	mImpulses
	Generalized impulse.

Vector	mConstraintImpulses
	Generalized constraint impulse.

JacobianMatrix	mJacobian
	Spatial Jacobian expressed in the child body frame. More...

JacobianMatrix	mJacobianDeriv
	Time derivative of spatial Jacobian expressed in the child body frame. More...

Matrix	mInvProjArtInertia
	Inverse of projected articulated inertia. More...

Matrix	mInvProjArtInertiaImplicit
	Inverse of projected articulated inertia for implicit joint damping and spring forces. More...

Vector	mTotalForce
	Total force projected on joint space.

Vector	mTotalImpulse
	Total impluse projected on joint space.

Vector	mInvM_a

Vector	mInvMassMatrixSegment

Friends
class	Skeleton

Additional Inherited Members
Static Public Attributes inherited from dart::dynamics::GenericJoint< math::SE3Space >
static constexpr std::size_t	NumDofs

Detailed Description

class FreeJoint

Member Function Documentation

◆ convertToPositions()

Eigen::Vector6d dart::dynamics::FreeJoint::convertToPositions ( const Eigen::Isometry3d & _tf )

static

Convert a transform into a 6D vector that can be used to set the positions of a FreeJoint.

The positions returned by this function will result in a relative transform of getTransformFromParentBodyNode() * _tf * getTransformFromChildBodyNode().inverse() between the parent BodyNode and the child BodyNode frames when applied to a FreeJoint.

◆ setAngularAcceleration()

void dart::dynamics::FreeJoint::setAngularAcceleration	(	const Eigen::Vector3d &	newAngularAcceleration,
		const Frame *	relativeTo = `Frame::World()`,
		const Frame *	inCoordinatesOf = `Frame::World()`
	)

Set the angular portion of classical acceleration of the child BodyNode relative to an arbitrary Frame.

Note that the linear portion of claasical acceleration of the child BodyNode will not be changed after this function called.

Parameters

[in]	newAngularAcceleration
[in]	relativeTo	The relative frame of "newAngularAcceleration".
[in]	inCoordinatesOf	The reference frame of "newAngularAcceleration".

◆ setAngularVelocity()

void dart::dynamics::FreeJoint::setAngularVelocity	(	const Eigen::Vector3d &	newAngularVelocity,
		const Frame *	relativeTo = `Frame::World()`,
		const Frame *	inCoordinatesOf = `Frame::World()`
	)

Set the angular portion of classical velocity of the child BodyNode relative to an arbitrary Frame.

Note that the linear portion of claasical velocity of the child BodyNode will not be changed after this function called.

Parameters

[in]	newAngularVelocity
[in]	relativeTo	The relative frame of "newAngularVelocity".
[in]	inCoordinatesOf	The reference frame of "newAngularVelocity".

◆ setLinearAcceleration()

void dart::dynamics::FreeJoint::setLinearAcceleration	(	const Eigen::Vector3d &	newLinearAcceleration,
		const Frame *	relativeTo = `Frame::World()`,
		const Frame *	inCoordinatesOf = `Frame::World()`
	)

Set the linear portion of classical acceleration of the child BodyNode relative to an arbitrary Frame.

Note that the angular portion of claasical acceleration of the child BodyNode will not be changed after this function called.

Parameters

[in]	newLinearAcceleration
[in]	relativeTo	The relative frame of "newLinearAcceleration".
[in]	inCoordinatesOf	The reference frame of "newLinearAcceleration".

◆ setLinearVelocity()

void dart::dynamics::FreeJoint::setLinearVelocity	(	const Eigen::Vector3d &	newLinearVelocity,
		const Frame *	relativeTo = `Frame::World()`,
		const Frame *	inCoordinatesOf = `Frame::World()`
	)

Set the linear portion of classical velocity of the child BodyNode relative to an arbitrary Frame.

Note that the angular portion of claasical velocity of the child BodyNode will not be changed after this function called.

Parameters

[in]	newLinearVelocity
[in]	relativeTo	The relative frame of "newLinearVelocity".
[in]	inCoordinatesOf	The reference frame of "newLinearVelocity".

◆ setRelativeSpatialAcceleration() [1/2]

void dart::dynamics::FreeJoint::setRelativeSpatialAcceleration ( const Eigen::Vector6d & newSpatialAcceleration )

Set the spatial acceleration of the child BodyNode relative to the parent BodyNode.

Parameters

[in] newSpatialAcceleration Desired spatial acceleration of the child BodyNode. The reference frame of "newSpatialAcceleration" is the child BodyNode.

◆ setRelativeSpatialAcceleration() [2/2]

void dart::dynamics::FreeJoint::setRelativeSpatialAcceleration	(	const Eigen::Vector6d &	newSpatialAcceleration,
		const Frame *	inCoordinatesOf
	)

Set the spatial acceleration of the child BodyNode relative to the parent BodyNode.

Parameters

[in]	newSpatialAcceleration	Desired spatial acceleration of the child BodyNode.
[in]	inCoordinatesOf	The reference frame of "newSpatialAcceleration".

◆ setRelativeSpatialVelocity() [1/2]

void dart::dynamics::FreeJoint::setRelativeSpatialVelocity ( const Eigen::Vector6d & newSpatialVelocity )

Set the spatial velocity of the child BodyNode relative to the parent BodyNode.

Parameters

[in] newSpatialVelocity Desired spatial velocity of the child BodyNode. The reference frame of "newSpatialVelocity" is the child BodyNode.

◆ setRelativeSpatialVelocity() [2/2]

void dart::dynamics::FreeJoint::setRelativeSpatialVelocity	(	const Eigen::Vector6d &	newSpatialVelocity,
		const Frame *	inCoordinatesOf
	)

Set the spatial velocity of the child BodyNode relative to the parent BodyNode.

Parameters

[in]	newSpatialVelocity	Desired spatial velocity of the child BodyNode.
[in]	inCoordinatesOf	The reference frame of "newSpatialVelocity".

◆ setRelativeTransform()

void dart::dynamics::FreeJoint::setRelativeTransform ( const Eigen::Isometry3d & newTransform )

Set the transform of the child BodyNode relative to the parent BodyNode.

Parameters

[in] newTransform Desired transform of the child BodyNode.

◆ setSpatialAcceleration()

void dart::dynamics::FreeJoint::setSpatialAcceleration	(	const Eigen::Vector6d &	newSpatialAcceleration,
		const Frame *	relativeTo,
		const Frame *	inCoordinatesOf
	)

Set the spatial acceleration of the child BodyNode relative to an arbitrary Frame.

Parameters

[in]	newSpatialAcceleration	Desired spatial acceleration of the child BodyNode.
[in]	relativeTo	The relative frame of "newSpatialAcceleration".
[in]	inCoordinatesOf	The reference frame of "newSpatialAcceleration".

◆ setSpatialMotion()

void dart::dynamics::FreeJoint::setSpatialMotion	(	const Eigen::Isometry3d *	newTransform,
		const Frame *	withRespectTo,
		const Eigen::Vector6d *	newSpatialVelocity,
		const Frame *	velRelativeTo,
		const Frame *	velInCoordinatesOf,
		const Eigen::Vector6d *	newSpatialAcceleration,
		const Frame *	accRelativeTo,
		const Frame *	accInCoordinatesOf
	)

Set the transform, spatial velocity, and spatial acceleration of the child BodyNode relative to an arbitrary Frame.

The reference frame can be arbitrarily specified.

If you want to set more than one kind of Cartetian coordinates (e.g., transform and spatial velocity) at the same time, you should call corresponding setters in a certain order (transform -> velocity -> acceleration), If you don't velocity or acceleration can be corrupted by transform or velocity. This function calls the corresponding setters in the right order so that all the desired Cartetian coordinates are properly set.

Pass nullptr for "newTransform", "newSpatialVelocity", or "newSpatialAcceleration" if you don't want to set them.

Parameters

[in]	newTransform	Desired transform of the child BodyNode.
[in]	withRespectTo	The relative Frame of "newTransform".
[in]	newSpatialVelocity	Desired spatial velocity of the child BodyNode.
[in]	velRelativeTo	The relative frame of "newSpatialVelocity".
[in]	velInCoordinatesOf	The reference frame of "newSpatialVelocity".
[in]	newSpatialAcceleration	Desired spatial acceleration of the child BodyNode.
[in]	accRelativeTo	The relative frame of "newSpatialAcceleration".
[in]	accInCoordinatesOf	The reference frame of "newSpatialAcceleration".

◆ setSpatialVelocity()

void dart::dynamics::FreeJoint::setSpatialVelocity	(	const Eigen::Vector6d &	newSpatialVelocity,
		const Frame *	relativeTo,
		const Frame *	inCoordinatesOf
	)

Set the spatial velocity of the child BodyNode relative to an arbitrary Frame.

Parameters

[in]	newSpatialVelocity	Desired spatial velocity of the child BodyNode.
[in]	relativeTo	The relative frame of "newSpatialVelocity".
[in]	inCoordinatesOf	The reference frame of "newSpatialVelocity".

◆ setTransform() [1/4]

void dart::dynamics::FreeJoint::setTransform	(	Joint *	joint,
		const Eigen::Isometry3d &	tf,
		const Frame *	withRespectTo = `Frame::World()`
	)

static

If the given joint is a FreeJoint, then set the transform of the given Joint's child BodyNode so that its transform with respect to "withRespecTo" is equal to "tf".

Deprecated:: Deprecated in DART 6.9. Use setTransformOf() instead

◆ setTransform() [2/4]

void dart::dynamics::FreeJoint::setTransform	(	BodyNode *	bodyNode,
		const Eigen::Isometry3d &	tf,
		const Frame *	withRespectTo = `Frame::World()`
	)

static

If the parent Joint of the given BodyNode is a FreeJoint, then set the transform of the given BodyNode so that its transform with respect to "withRespecTo" is equal to "tf".

Deprecated:: Deprecated in DART 6.9. Use setTransformOf() instead

◆ setTransform() [3/4]

void dart::dynamics::FreeJoint::setTransform	(	Skeleton *	skeleton,
		const Eigen::Isometry3d &	tf,
		const Frame *	withRespectTo = `Frame::World()`,
		bool	applyToAllRootBodies = `true`
	)

static

Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes of the given Skeleton.

If false is passed in "applyToAllRootBodies", then it will be applied to only the default root BodyNode that will be obtained by Skeleton::getRootBodyNode().

Deprecated:: Deprecated in DART 6.9. Use setTransformOf() instead

◆ setTransform() [4/4]

void dart::dynamics::FreeJoint::setTransform	(	const Eigen::Isometry3d &	newTransform,
		const Frame *	withRespectTo = `Frame::World()`
	)

Set the transform of the child BodyNode relative to an arbitrary Frame.

Parameters

[in]	newTransform	Desired transform of the child BodyNode.
[in]	withRespectTo	The relative Frame of "newTransform".

◆ setTransformOf() [1/3]

void dart::dynamics::FreeJoint::setTransformOf	(	Joint *	joint,
		const Eigen::Isometry3d &	tf,
		const Frame *	withRespectTo = `Frame::World()`
	)

static

If the given joint is a FreeJoint, then set the transform of the given Joint's child BodyNode so that its transform with respect to "withRespecTo" is equal to "tf".

◆ setTransformOf() [2/3]

void dart::dynamics::FreeJoint::setTransformOf	(	BodyNode *	bodyNode,
		const Eigen::Isometry3d &	tf,
		const Frame *	withRespectTo = `Frame::World()`
	)

static

If the parent Joint of the given BodyNode is a FreeJoint, then set the transform of the given BodyNode so that its transform with respect to "withRespecTo" is equal to "tf".

◆ setTransformOf() [3/3]

void dart::dynamics::FreeJoint::setTransformOf	(	Skeleton *	skeleton,
		const Eigen::Isometry3d &	tf,
		const Frame *	withRespectTo = `Frame::World()`,
		bool	applyToAllRootBodies = `true`
	)

static

Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes of the given Skeleton.

If false is passed in "applyToAllRootBodies", then it will be applied to only the default root BodyNode that will be obtained by Skeleton::getRootBodyNode().

Member Data Documentation

◆ mQ

Eigen::Isometry3d dart::dynamics::FreeJoint::mQ

mutableprotected

Transformation matrix dependent on generalized coordinates.

Do not use directly! Use getQ() to access this

The documentation for this class was generated from the following files:

dart/dynamics/FreeJoint.hpp
dart/dynamics/FreeJoint.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ convertToPositions()

◆ setAngularAcceleration()

◆ setAngularVelocity()

◆ setLinearAcceleration()

◆ setLinearVelocity()

◆ setRelativeSpatialAcceleration() [1/2]

◆ setRelativeSpatialAcceleration() [2/2]

◆ setRelativeSpatialVelocity() [1/2]

◆ setRelativeSpatialVelocity() [2/2]

◆ setRelativeTransform()

◆ setSpatialAcceleration()

◆ setSpatialMotion()

◆ setSpatialVelocity()

◆ setTransform() [1/4]

◆ setTransform() [2/4]

◆ setTransform() [3/4]

◆ setTransform() [4/4]

◆ setTransformOf() [1/3]

◆ setTransformOf() [2/3]

◆ setTransformOf() [3/3]

Member Data Documentation

◆ mQ