Inheritance diagram for dart::dynamics::GenericJoint< ConfigSpaceT >:

Collaboration diagram for dart::dynamics::GenericJoint< ConfigSpaceT >:

Public Types
using	ThisClass = GenericJoint< ConfigSpaceT >

using	Base = detail::GenericJointBase< ThisClass, ConfigSpaceT >

using	Point = typename ConfigSpaceT::Point

using	EuclideanPoint = typename ConfigSpaceT::EuclideanPoint

using	Vector = typename ConfigSpaceT::Vector

using	JacobianMatrix = typename ConfigSpaceT::JacobianMatrix

using	Matrix = typename ConfigSpaceT::Matrix

using	UniqueProperties = detail::GenericJointUniqueProperties< ConfigSpaceT >

using	Properties = detail::GenericJointProperties< ConfigSpaceT >

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
	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

Interface for generalized coordinates
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

Command
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

Position
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

Fixed-size mutators and accessors
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()

Velocity
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

Acceleration
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

Force
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

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

double	getVelocityChange (std::size_t index) const override

void	resetVelocityChanges () override

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

double	getConstraintImpulse (std::size_t index) const override

void	resetConstraintImpulses () override

Integration and finite difference
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()

Passive forces - spring, viscous friction, Coulomb friction
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

Energy
double	computePotentialEnergy () const override

Jacobians
const math::Jacobian	getRelativeJacobian () const override

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

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

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 Attributes
static constexpr std::size_t	NumDofs = ConfigSpaceT::NumDofs

Protected Member Functions
	GenericJoint (const Properties &properties)

void	registerDofs () override

Recursive algorithm routines for equations of motion
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

Protected Attributes
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

Recursive dynamics routines
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

Member Data Documentation

◆ mInvProjArtInertia

template<class ConfigSpaceT>

Matrix dart::dynamics::GenericJoint< ConfigSpaceT >::mInvProjArtInertia

mutableprotected

Inverse of projected articulated inertia.

Do not use directly! Use getInvProjArtInertia() to get this quantity

◆ mInvProjArtInertiaImplicit

template<class ConfigSpaceT>

Matrix dart::dynamics::GenericJoint< ConfigSpaceT >::mInvProjArtInertiaImplicit

mutableprotected

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

Do not use directly! Use getInvProjArtInertiaImplicit() to access this quantity

◆ mJacobian

template<class ConfigSpaceT>

JacobianMatrix dart::dynamics::GenericJoint< ConfigSpaceT >::mJacobian

mutableprotected

Spatial Jacobian expressed in the child body frame.

Do not use directly! Use getRelativeJacobianStatic() to access this quantity

◆ mJacobianDeriv

template<class ConfigSpaceT>

JacobianMatrix dart::dynamics::GenericJoint< ConfigSpaceT >::mJacobianDeriv

mutableprotected

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

Do not use directly! Use getRelativeJacobianTimeDerivStatic() to access this quantity

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

dart/dynamics/detail/GenericJointAspect.hpp
dart/dynamics/GenericJoint.hpp

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Recursive dynamics routines

Member Data Documentation

◆ mInvProjArtInertia

◆ mInvProjArtInertiaImplicit

◆ mJacobian

◆ mJacobianDeriv