Inheritance diagram for dart::dynamics::Group:

Collaboration diagram for dart::dynamics::Group:

Public Member Functions
virtual	~Group ()=default
	Destructor.

GroupPtr	cloneGroup () const
	Creates and returns a clone of this Group.

GroupPtr	cloneGroup (const std::string &cloneName) const
	Creates and returns a clone of this Group.

MetaSkeletonPtr	cloneMetaSkeleton (const std::string &cloneName) const override
	Creates an identical clone of this MetaSkeleton.

void	swapBodyNodeIndices (std::size_t _index1, std::size_t _index2)
	Swap the index of BodyNode _index1 with _index2.

void	swapDofIndices (std::size_t _index1, std::size_t _index2)
	Swap the index of DegreeOfFreedom _index1 with _index2.

bool	addComponent (BodyNode *_bn, bool _warning=true)
	Add a BodyNode and its parent DegreesOfFreedom to this Group. More...

bool	addComponents (const std::vector< BodyNode *> &_bodyNodes, bool _warning=true)
	Add set of BodyNodes and their parent DegreesOfFreedom to this Group. More...

bool	removeComponent (BodyNode *_bn, bool _warning=true)
	Remove a BodyNode and its parent DegreesOfFreedom from this Group. More...

bool	removeComponents (const std::vector< BodyNode *> &_bodyNodes, bool _warning=true)
	Remove a set of BodyNodes and their parent DegreesOfFreedom from this Group. More...

bool	addBodyNode (BodyNode *_bn, bool _warning=true)
	Add a BodyNode to this Group. More...

bool	addBodyNodes (const std::vector< BodyNode *> &_bodyNodes, bool _warning=true)
	Add a set of BodyNodes to this Group. More...

bool	removeBodyNode (BodyNode *_bn, bool _warning=true)
	Remove a BodyNode from this Group. More...

bool	removeBodyNodes (const std::vector< BodyNode *> &_bodyNodes, bool _warning=true)
	Remove a set of BodyNodes from this Group. More...

bool	addJoint (Joint *_joint, bool _addDofs=true, bool _warning=true)
	Add a Joint to this Group. More...

bool	addJoints (const std::vector< Joint *> &_joints, bool _addDofs=true, bool _warning=true)
	Add a set of Joints to this Group. More...

bool	removeJoint (Joint *_joint, bool _removeDofs=true, bool _warning=true)
	Remove a Joint from this Group. More...

bool	removeJoints (const std::vector< Joint *> &_joints, bool _removeDofs=true, bool _warning=true)
	Remove a set of Joints from this Group. More...

bool	addDof (DegreeOfFreedom *_dof, bool _addJoint=true, bool _warning=true)
	Add a DegreeOfFreedom to this Group. More...

bool	addDofs (const std::vector< DegreeOfFreedom *> &_dofs, bool _addJoint=true, bool _warning=true)
	Add a set of DegreesOfFreedom to this Group. More...

bool	removeDof (DegreeOfFreedom *_dof, bool _cleanupJoint=true, bool _warning=true)
	Remove a DegreeOfFreedom from this Group. More...

bool	removeDofs (const std::vector< DegreeOfFreedom *> &_dofs, bool _cleanupJoint=true, bool _warning=true)
	Remove a set of DegreesOfFreedom from this Group. More...

Public Member Functions inherited from dart::dynamics::ReferentialSkeleton
ReferentialSkeleton &	operator= (const ReferentialSkeleton &_other)=delete
	Remove copy operator TODO(MXG): Consider allowing this.

virtual	~ReferentialSkeleton ()=default
	Default destructor.

std::unique_ptr< common::LockableReference >	getLockableReference () const override
	Returns mutex.

const std::string &	setName (const std::string &_name) override
	Set the name of this MetaSkeleton.

const std::string &	getName () const override
	Get the name of this MetaSkeleton.

std::size_t	getNumSkeletons () const
	Returns number of skeletons associated with this ReferentialSkeleton.

bool	hasSkeleton (const Skeleton *skel) const
	Returns whether this ReferentialSkeleton contains any BodyNode or Joint from `skel`. More...

std::size_t	getNumBodyNodes () const override
	Get number of body nodes.

BodyNode *	getBodyNode (std::size_t _idx) override
	Get BodyNode whose index is _idx.

const BodyNode *	getBodyNode (std::size_t _idx) const override
	Get const BodyNode whose index is _idx.

BodyNode *	getBodyNode (const std::string &name) override
	Returns the BodyNode of given name. More...

const BodyNode *	getBodyNode (const std::string &name) const override
	Returns the BodyNode of given name. More...

const std::vector< BodyNode * > &	getBodyNodes () override
	Get all the BodyNodes that are held by this MetaSkeleton.

const std::vector< const BodyNode * > &	getBodyNodes () const override
	Get all the BodyNodes that are held by this MetaSkeleton.

std::vector< BodyNode * >	getBodyNodes (const std::string &name) override
	Returns all the BodyNodes of given name. More...

std::vector< const BodyNode * >	getBodyNodes (const std::string &name) const override
	Returns all the BodyNodes of given name. More...

bool	hasBodyNode (const BodyNode *bodyNode) const override
	Returns whether this Skeleton contains `bodyNode`.

std::size_t	getIndexOf (const BodyNode *_bn, bool _warning=true) const override
	Get the index of a specific BodyNode within this ReferentialSkeleton. More...

std::size_t	getNumJoints () const override
	Get number of Joints.

Joint *	getJoint (std::size_t _idx) override
	Get Joint whose index is _idx.

const Joint *	getJoint (std::size_t _idx) const override
	Get const Joint whose index is _idx.

Joint *	getJoint (const std::string &name) override
	Returns the Joint of given name. More...

const Joint *	getJoint (const std::string &name) const override
	Returns the Joint of given name. More...

std::vector< Joint * >	getJoints () override
	Returns all the joints that are held by this MetaSkeleton.

std::vector< const Joint * >	getJoints () const override
	Returns all the joints that are held by this MetaSkeleton.

std::vector< Joint * >	getJoints (const std::string &name) override
	Returns all the Joint of given name. More...

std::vector< const Joint * >	getJoints (const std::string &name) const override
	Returns all the Joint of given name. More...

bool	hasJoint (const Joint *joint) const override
	Returns whether this Skeleton contains `join`.

std::size_t	getIndexOf (const Joint *_joint, bool _warning=true) const override
	Get the index of a specific Joint within this ReferentialSkeleton. More...

std::size_t	getNumDofs () const override
	Return the number of degrees of freedom in this skeleton.

DegreeOfFreedom *	getDof (std::size_t _idx) override
	Get degree of freedom (aka generalized coordinate) whose index is _idx.

const DegreeOfFreedom *	getDof (std::size_t _idx) const override
	Get degree of freedom (aka generalized coordinate) whose index is _idx.

const std::vector< DegreeOfFreedom * > &	getDofs () override
	Get the vector of DegreesOfFreedom for this MetaSkeleton.

std::vector< const DegreeOfFreedom * >	getDofs () const override
	Get a vector of const DegreesOfFreedom for this MetaSkeleton.

std::size_t	getIndexOf (const DegreeOfFreedom *_dof, bool _warning=true) const override
	Get the index of a specific DegreeOfFreedom within this ReferentialSkeleton. More...

math::Jacobian	getJacobian (const JacobianNode *_node) const override
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

math::Jacobian	getJacobian (const JacobianNode _node, const Frame _inCoordinatesOf) const override
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

math::Jacobian	getJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const override
	Get the spatial Jacobian targeting an offset in a BodyNode. More...

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...

math::Jacobian	getWorldJacobian (const JacobianNode *_node) const override
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

math::Jacobian	getWorldJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const override
	Get the spatial Jacobian targeting an offset in a BodyNode. More...

math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const override
	Get the linear Jacobian targeting the origin of a BodyNode. More...

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...

math::AngularJacobian	getAngularJacobian (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const override
	Get the angular Jacobian of a BodyNode. More...

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...

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...

math::Jacobian	getJacobianClassicDeriv (const JacobianNode *_node) const override
	Get the spatial Jacobian (classical) time derivative targeting the origin of a BodyNode. More...

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...

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...

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...

const Eigen::MatrixXd &	getMassMatrix () const override
	Get the Mass Matrix of the MetaSkeleton.

const Eigen::MatrixXd &	getAugMassMatrix () const override
	Get augmented mass matrix of the skeleton. More...

const Eigen::MatrixXd &	getInvMassMatrix () const override
	Get inverse of Mass Matrix of the MetaSkeleton.

const Eigen::MatrixXd &	getInvAugMassMatrix () const override
	Get inverse of augmented Mass Matrix of the MetaSkeleton.

const Eigen::VectorXd &	getCoriolisForces () const override
	Get Coriolis force vector of the MetaSkeleton's BodyNodes.

const Eigen::VectorXd &	getGravityForces () const override
	Get gravity force vector of the MetaSkeleton.

const Eigen::VectorXd &	getCoriolisAndGravityForces () const override
	Get combined vector of Coriolis force and gravity force of the MetaSkeleton. More...

const Eigen::VectorXd &	getExternalForces () const override
	Get external force vector of the MetaSkeleton.

const Eigen::VectorXd &	getConstraintForces () const override
	Get constraint force vector.

void	clearExternalForces () override
	Clear the external forces of the BodyNodes in this MetaSkeleton.

void	clearInternalForces () override
	Clear the internal forces of the BodyNodes in this MetaSkeleton.

double	computeKineticEnergy () const override
	Get the kinetic energy of this MetaSkeleton.

double	computePotentialEnergy () const override
	Get the potential energy of this MetaSkeleton.

void	clearCollidingBodies () override
	Clear collision flags of the BodyNodes in this MetaSkeleton.

Eigen::Vector3d	getCOM (const Frame *_withRespectTo=Frame::World()) const override
	Get the MetaSkeleton's COM with respect to any Frame (default is World Frame)

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)

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)

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)

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)

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)

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...

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...

Public Member Functions inherited from dart::dynamics::MetaSkeleton
	MetaSkeleton (const MetaSkeleton &)=delete

virtual	~MetaSkeleton ()=default
	Default destructor.

MetaSkeletonPtr	cloneMetaSkeleton () const
	Creates an identical clone of this MetaSkeleton.

void	setCommand (std::size_t _index, double _command)
	Set a single command.

double	getCommand (std::size_t _index) const
	Get a single command.

void	setCommands (const Eigen::VectorXd &_commands)
	Set commands for all generalized coordinates.

void	setCommands (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_commands)
	Set commands for a subset of the generalized coordinates.

Eigen::VectorXd	getCommands () const
	Get commands for all generalized coordinates.

Eigen::VectorXd	getCommands (const std::vector< std::size_t > &_indices) const
	Get commands for a subset of the generalized coordinates.

void	resetCommands ()
	Set all commands to zero.

void	setPosition (std::size_t index, double _position)
	Set the position of a single generalized coordinate.

double	getPosition (std::size_t _index) const
	Get the position of a single generalized coordinate.

void	setPositions (const Eigen::VectorXd &_positions)
	Set the positions for all generalized coordinates.

void	setPositions (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_positions)
	Set the positions for a subset of the generalized coordinates.

Eigen::VectorXd	getPositions () const
	Get the positions for all generalized coordinates.

Eigen::VectorXd	getPositions (const std::vector< std::size_t > &_indices) const
	Get the positions for a subset of the generalized coordinates.

void	resetPositions ()
	Set all positions to zero.

void	setPositionLowerLimit (std::size_t _index, double _position)
	Set the lower limit of a generalized coordinate's position.

void	setPositionLowerLimits (const Eigen::VectorXd &positions)
	Set the lower limits for all generalized coordinates.

void	setPositionLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &positions)
	Set the lower limits for a subset of the generalized coordinates.

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.

void	setPositionUpperLimits (const Eigen::VectorXd &positions)
	Set the upper limits for all generalized coordinates.

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.

void	setVelocities (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_velocities)
	Set the velocities of a subset of the generalized coordinates.

Eigen::VectorXd	getVelocities () const
	Get the velocities for all generalized coordinates.

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.

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.

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.

Eigen::VectorXd	getForceLowerLimits (const std::vector< std::size_t > &indices) const
	Get the lower limits for a subset of the generalized coordinates's force.

void	setForceUpperLimit (std::size_t _index, double _force)
	Set the upper limit of a generalized coordinate's force.

void	setForceUpperLimits (const Eigen::VectorXd &forces)
	Set the upperlimits for all generalized coordinates's force.

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.

double	getForceUpperLimit (std::size_t _index) const
	Get the upper limit of a generalized coordinate's force.

Eigen::VectorXd	getForceUpperLimits () const
	Get the upper limits for all generalized coordinates's force.

Eigen::VectorXd	getForceUpperLimits (const std::vector< std::size_t > &indices) const
	Get the upper limits for a subset of the generalized coordinates's force.

Eigen::VectorXd	getVelocityChanges () const
	Get the velocity changes for all the generalized coordinates.

void	setJointConstraintImpulses (const Eigen::VectorXd &_impulses)
	Set the constraint impulses for the generalized coordinates.

Eigen::VectorXd	getJointConstraintImpulses () const
	Get the constraint impulses for the generalized coordinates.

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...

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...

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...

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...

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...

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...

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...

double	computeLagrangian () const
	Compute and return Lagrangian of this MetaSkeleton.

double	getKineticEnergy () const
	Get the kinetic energy of this MetaSkeleton.

double	getPotentialEnergy () const
	Get the potential energy of this MetaSkeleton.

Public Member Functions inherited from dart::common::Subject
virtual	~Subject ()
	Destructor will notify all Observers that it is destructing.

Static Public Member Functions
static GroupPtr	create (const std::string &_name="Group", const std::vector< BodyNode > &_bodyNodes=std::vector< BodyNode >(), bool _includeJoints=true, bool _includeDofs=true)
	Create a Group out of a set of BodyNodes. More...

static GroupPtr	create (const std::string &_name, const std::vector< DegreeOfFreedom *> &_dofs, bool _includeBodyNodes=true, bool _includeJoints=true)
	Create a Group out of a set of DegreesOfFreedom. More...

static GroupPtr	create (const std::string &_name, const MetaSkeletonPtr &_metaSkeleton)
	Create a Group that mimics the given MetaSkeleton.

Protected Member Functions
	Group (const std::string &_name, const std::vector< BodyNode *> &_bodyNodes, bool _includeJoints, bool _includeDofs)
	Default constructor.

	Group (const std::string &_name, const std::vector< DegreeOfFreedom *> &_dofs, bool _includeBodyNodes, bool _includeJoints)
	Alternative constructor.

	Group (const std::string &_name, const MetaSkeletonPtr &_metaSkeleton)
	MetaSkeleton-based constructor.

Protected Member Functions inherited from dart::dynamics::ReferentialSkeleton
	ReferentialSkeleton ()=default
	Default constructor. More...

void	registerComponent (BodyNode *_bn)
	Add a BodyNode, along with its parent Joint and parent DegreesOfFreedom to this ReferentialSkeleton. More...

void	registerBodyNode (BodyNode *_bn)
	Add a BodyNode to this ReferentialSkeleton, ignoring its Joint and DegreesOfFreedom. More...

void	registerJoint (Joint *_joint)
	Add a Joint to this Referential Skeleton, ignoring its DegreesOfFreedom. More...

void	registerDegreeOfFreedom (DegreeOfFreedom *_dof)
	Add a DegreeOfFreedom to this ReferentialSkeleton. More...

void	unregisterComponent (BodyNode *_bn)
	Completely remove a BodyNode and its parent DegreesOfFreedom from this ReferentialSkeleton. More...

void	unregisterBodyNode (BodyNode *_bn, bool _unregisterDofs)
	Remove a BodyNode from this ReferentialSkeleton, ignoring its parent DegreesOfFreedom. More...

void	unregisterJoint (BodyNode *_child)
	Remove a Joint from this ReferentialSkeleton. More...

void	unregisterDegreeOfFreedom (BodyNode *_bn, std::size_t _localIndex)
	Remove a DegreeOfFreedom from this ReferentialSkeleton. More...

void	updateCaches ()
	Update the caches to match any changes to the structure of this ReferentialSkeleton.

Protected Member Functions inherited from dart::dynamics::MetaSkeleton
	MetaSkeleton ()
	Default constructor.

Protected Member Functions inherited from dart::common::Subject
void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers.

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers.

Additional Inherited Members
Public Types inherited from dart::dynamics::MetaSkeleton
using	NameChangedSignal = common::Signal< void(std::shared_ptr< const MetaSkeleton > _skeleton, const std::string &_oldName, const std::string &_newName)>

Public Attributes inherited from dart::dynamics::MetaSkeleton
common::SlotRegister< NameChangedSignal >	onNameChanged

Protected Attributes inherited from dart::dynamics::ReferentialSkeleton
std::weak_ptr< MetaSkeleton >	mPtr
	Weak pointer to this Skeleton.

std::string	mName
	Name of this ReferentialSkeleton.

std::unordered_set< const Skeleton * >	mSkeletons
	Skeletons that this ReferentialSkeleton contains any BodyNode or Joint from the Skeletons. More...

std::set< std::mutex * >	mSkeletonMutexes
	Mutexes of the skeletons. More...

std::vector< BodyNodePtr >	mBodyNodes
	BodyNodes that this ReferentialSkeleton references. More...

std::vector< BodyNode * >	mRawBodyNodes
	Raw BodyNode pointers. This vector is used for the MetaSkeleton API.

std::vector< const BodyNode * >	mRawConstBodyNodes
	Raw const BodyNode pointers. This vector is used for the MetaSkeleton API.

std::vector< JointPtr >	mJoints
	Joints that this ReferentialSkeleton references.

std::vector< DegreeOfFreedomPtr >	mDofs
	DegreesOfFreedom that this ReferentialSkeleton references.

std::vector< DegreeOfFreedom * >	mRawDofs
	Raw DegreeOfFreedom vector. This vector is used for the MetaSkeleton API.

std::vector< const DegreeOfFreedom * >	mRawConstDofs
	Raw const DegreeOfFreedom vector. More...

std::unordered_map< const BodyNode *, IndexMap >	mIndexMap
	Raw const DegreeOfFreedom. This vector is used for the MetaSkeleton API. More...

Eigen::MatrixXd	mM
	Cache for Mass Matrix.

Eigen::MatrixXd	mAugM
	Cache for Augmented Mass Matrix.

Eigen::MatrixXd	mInvM
	Cache for inverse Mass Matrix.

Eigen::MatrixXd	mInvAugM
	Cache for inverse Augmented Mass Matrix.

Eigen::VectorXd	mCvec
	Cache for Coriolis vector.

Eigen::VectorXd	mG
	Cache for gravity vector.

Eigen::VectorXd	mCg
	Cache for combined Coriolis and gravity vector.

Eigen::VectorXd	mFext
	Cache for external force vector.

Eigen::VectorXd	mFc
	Cache for constraint force vector.

Protected Attributes inherited from dart::dynamics::MetaSkeleton
NameChangedSignal	mNameChangedSignal

Protected Attributes inherited from dart::common::Subject
std::set< Observer * >	mObservers
	List of current Observers.

Member Function Documentation

◆ addBodyNode()

bool dart::dynamics::Group::addBodyNode	(	BodyNode *	_bn,
		bool	_warning = `true`
	)

Add a BodyNode to this Group.

If _warning is true, you will be warned when you attempt to add the same BodyNode twice, and an assertion will be thrown.

This function will return false if the BodyNode was already in the Group.

◆ addBodyNodes()

bool dart::dynamics::Group::addBodyNodes	(	const std::vector< BodyNode *> &	_bodyNodes,
		bool	_warning = `true`
	)

Add a set of BodyNodes to this Group.

If _warning is true, you will be warned when you attempt to add a BodyNode that is already in the Group, and an assertion will be thrown.

This function will return false if all of the BodyNodes were already in the Group.

◆ addComponent()

bool dart::dynamics::Group::addComponent	(	BodyNode *	_bn,
		bool	_warning = `true`
	)

Add a BodyNode and its parent DegreesOfFreedom to this Group.

If _warning is true, you will be warned when the BodyNode and all its DegreesOfFreedom were already in the Group, and an assertion will be thrown.

This function will return false if the BodyNode and all its DegreesOfFreedom were already in the Group.

◆ addComponents()

bool dart::dynamics::Group::addComponents	(	const std::vector< BodyNode *> &	_bodyNodes,
		bool	_warning = `true`
	)

Add set of BodyNodes and their parent DegreesOfFreedom to this Group.

If _warning is true, you will be warned when an entire component was already in the Group, and an assertion will be thrown.

This function will return false if all of the components in the set were already in this Group.

◆ addDof()

bool dart::dynamics::Group::addDof	(	DegreeOfFreedom *	_dof,
		bool	_addJoint = `true`,
		bool	_warning = `true`
	)

Add a DegreeOfFreedom to this Group.

If _addJoint is true, the Joint of this DOF will also be added to the Group. If _warning is true, you will be warned when you attempt to add the same DegreeOfFreedom twice, and an assertion will be thrown.

This function will return false if the DegreeOfFreedom was already in the Group.

◆ addDofs()

bool dart::dynamics::Group::addDofs	(	const std::vector< DegreeOfFreedom *> &	_dofs,
		bool	_addJoint = `true`,
		bool	_warning = `true`
	)

Add a set of DegreesOfFreedom to this Group.

If _addJoint is true, the Joint of each DOF will also be added to the Group. If _warning is true, you will be warned when you attempt to add the same DegreeOfFreedom twice, and an assertion will be thrown.

This function will return false if all of the DegreesOfFreedom was already in the Group.

◆ addJoint()

bool dart::dynamics::Group::addJoint	(	Joint *	_joint,
		bool	_addDofs = `true`,
		bool	_warning = `true`
	)

Add a Joint to this Group.

If _addDofs is true, it will also add all the DegreesOfFreedom of the Joint. If _warning is true, you will be warned if the Joint (and all its DOFs if _addDofs is set to true) was already in the Group, and an assertion will be thrown.

This function will return false if the Joint (and all its DOFs, if _addDofs is true) was already in the Group.

◆ addJoints()

bool dart::dynamics::Group::addJoints	(	const std::vector< Joint *> &	_joints,
		bool	_addDofs = `true`,
		bool	_warning = `true`
	)

Add a set of Joints to this Group.

If _addDofs is true, it will also add all the DOFs of each Joint. If _warning is true, you will be warned when you attempt to add a Joint that is already in the Group (and all its DOFs are in the Group, if _addDofs is set to true), and an assertion will be thrown.

This function will return false if all the Joints (and their DOFs if _addDofs is set to true) were already in the Group.

◆ create() [1/2]

GroupPtr dart::dynamics::Group::create	(	const std::string &	_name = `"Group"`,
		const std::vector< BodyNode *> &	_bodyNodes = `std::vector<BodyNode*>()`,
		bool	_includeJoints = `true`,
		bool	_includeDofs = `true`
	)

static

Create a Group out of a set of BodyNodes.

If _includeJoints is true, the parent Joint of each BodyNode will also be added to the Group. If _includeDofs is true, then the parent DegreesOfFreedom of each BodyNode will also be added to the Group.

◆ create() [2/2]

GroupPtr dart::dynamics::Group::create	(	const std::string &	_name,
		const std::vector< DegreeOfFreedom *> &	_dofs,
		bool	_includeBodyNodes = `true`,
		bool	_includeJoints = `true`
	)

static

Create a Group out of a set of DegreesOfFreedom.

If _includeBodyNodes is true, then the child BodyNode of each DegreeOfFreedom will also be added to the Group. If _includeJoints is true, then the Joint of each DegreeOfFreedom will also be added to the Group.

◆ removeBodyNode()

bool dart::dynamics::Group::removeBodyNode	(	BodyNode *	_bn,
		bool	_warning = `true`
	)

Remove a BodyNode from this Group.

If _warning is true, you will be warned when you attempt to remove a BodyNode that is not in this Group, and an assertion will be thrown.

The function will return false if the BodyNode was not in this Group.

◆ removeBodyNodes()

bool dart::dynamics::Group::removeBodyNodes	(	const std::vector< BodyNode *> &	_bodyNodes,
		bool	_warning = `true`
	)

Remove a set of BodyNodes from this Group.

If _warning is true, you will be warned when you attempt to remove a BodyNode that is not in this Group, and an assertion will be thrown.

The function will return false if none of the BodyNodes were in this Group.

◆ removeComponent()

bool dart::dynamics::Group::removeComponent	(	BodyNode *	_bn,
		bool	_warning = `true`
	)

Remove a BodyNode and its parent DegreesOfFreedom from this Group.

If _warning is true, you will be warned if this Group does not have the BodyNode or any of its DegreesOfFreedom, and an assertion will be thrown.

This function will return false if the Group did not include the BodyNode or any of its parent DegreesOfFreedom.

◆ removeComponents()

bool dart::dynamics::Group::removeComponents	(	const std::vector< BodyNode *> &	_bodyNodes,
		bool	_warning = `true`
	)

Remove a set of BodyNodes and their parent DegreesOfFreedom from this Group.

If _warning is true, you will be warned if any of the components were completely missing from this Group, and an assertion will be thrown.

This function will return false if none of the components in this set were in the Group.

◆ removeDof()

bool dart::dynamics::Group::removeDof	(	DegreeOfFreedom *	_dof,
		bool	_cleanupJoint = `true`,
		bool	_warning = `true`
	)

Remove a DegreeOfFreedom from this Group.

If _cleanupJoint is true, the Joint of this DOF will be removed, but only if no other DOFs belonging to the Joint are remaining in the Group. If _warning is true, you will be warned when you attempt to remove a DegreeOfFreedom that is not in this Group, and an assertion will be thrown.

This function will return false if the DegreeOfFreedom was not in this Group.

◆ removeDofs()

bool dart::dynamics::Group::removeDofs	(	const std::vector< DegreeOfFreedom *> &	_dofs,
		bool	_cleanupJoint = `true`,
		bool	_warning = `true`
	)

Remove a set of DegreesOfFreedom from this Group.

If _cleanupJoint is true, the Joint of this DOF will be removed, but only if no other DOFs belonging to the Joint are remaining in the Group. If _warning is true, you will be warned when you attempt to remove a DegreeOfFreedom that is not in this Group, and an assertion will be thrown.

This function will return false if none of the DegreesOfFreedom were in this Group.

◆ removeJoint()

bool dart::dynamics::Group::removeJoint	(	Joint *	_joint,
		bool	_removeDofs = `true`,
		bool	_warning = `true`
	)

Remove a Joint from this Group.

If _removeDofs is true, it will also remove any DOFs belonging to this Joint. If _warning is true, you will be warned if you attempt to remove a Joint which is not in this Group (and none of its DOFs are in the Group if _removeDofs is set to true), and an assertion will be thrown.

This function will return false if the Joint was not in the Group (and neither were any of its DOFs, if _removeDofs is set to true).

◆ removeJoints()

bool dart::dynamics::Group::removeJoints	(	const std::vector< Joint *> &	_joints,
		bool	_removeDofs = `true`,
		bool	_warning = `true`
	)

Remove a set of Joints from this Group.

If _removeDofs is true, it will also remove any DOFs belonging to any of the Joints. If _warning is true, you will be warned if you attempt to remove a Joint which is not in this Group (and none of its DOFs are in the Group if _removeDofs is set to true), and an assertion will be thrown.

This function will return false if none of the Joints (nor any of their DOFs if _removeDofs is set to true) were in the Group.

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

dart/dynamics/Group.hpp
dart/dynamics/Group.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members