ReferentialSkeleton is a base class used to implement Linkage, Group, and other classes that are used to reference subsections of Skeletons. More...

#include <ReferentialSkeleton.hpp>

Inheritance diagram for dart::dynamics::ReferentialSkeleton:

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Collaboration diagram for dart::dynamics::ReferentialSkeleton:

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Classes
struct	IndexMap
	A simple struct that contains the indexing of a BodyNode and its parent DegreesOfFreedom. More...

Public Member Functions
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.

Name
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.

Structural Properties
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...

Jacobians
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...

Equations of Motion
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.

Center of Mass Jacobian
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.

virtual MetaSkeletonPtr	cloneMetaSkeleton (const std::string &cloneName) const =0
	Creates an identical clone of this MetaSkeleton.

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.

Protected Member Functions
	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.

Protected Attributes
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.

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

Detailed Description

ReferentialSkeleton is a base class used to implement Linkage, Group, and other classes that are used to reference subsections of Skeletons.

Constructor & Destructor Documentation

◆ ReferentialSkeleton()

dart::dynamics::ReferentialSkeleton::ReferentialSkeleton ( )

protecteddefault

Default constructor.

Protected to avoid blank and useless instantiations of ReferentialSkeleton.

Member Function Documentation

◆ getAngularJacobian()

math::AngularJacobian dart::dynamics::ReferentialSkeleton::getAngularJacobian	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the angular Jacobian of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getAngularJacobianDeriv()

math::AngularJacobian dart::dynamics::ReferentialSkeleton::getAngularJacobianDeriv	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the angular Jacobian time derivative of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getAugMassMatrix()

const Eigen::MatrixXd & dart::dynamics::ReferentialSkeleton::getAugMassMatrix ( ) const

overridevirtual

Get augmented mass matrix of the skeleton.

This matrix is used in ConstraintDynamics to compute constraint forces. The matrix is M + h*D + h*h*K where D is diagonal joint damping coefficient matrix, K is diagonal joint stiffness matrix, and h is simulation time step.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNode() [1/2]

BodyNode * dart::dynamics::ReferentialSkeleton::getBodyNode ( const std::string & name )

overridevirtual

Returns the BodyNode of given name.

Parameters

[in] name The BodyNode name that want to search.

Returns: The body node of given name.

Note: ReferentialSkeleton can contain multiple BodyNodes with the same name when this ReferentialSkeleton contains BodyNodes from multiple Skeletons. In this case, this function returns the first one, which is implementation dependent, and prints a warning.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNode() [2/2]

const BodyNode * dart::dynamics::ReferentialSkeleton::getBodyNode ( const std::string & name ) const

overridevirtual

Returns the BodyNode of given name.

Parameters

[in] name The BodyNode name that want to search.

Returns: The body node of given name.

Note: ReferentialSkeleton can contain multiple BodyNodes with the same name when this ReferentialSkeleton contains BodyNodes from multiple Skeletons. In this case, this function returns the first one, which is implementation dependent, and prints a warning.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNodes() [1/2]

std::vector< BodyNode * > dart::dynamics::ReferentialSkeleton::getBodyNodes ( const std::string & name )

overridevirtual

Returns all the BodyNodes of given name.

Parameters

[in] name The BodyNode name that want to search.

Returns: The list of BodyNodes of given name.

Note: ReferentialSkeleton can contain multiple BodyNodes with the same name when ReferentialSkeleton contains BodyNodes from multiple Skeletons.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNodes() [2/2]

std::vector< const BodyNode * > dart::dynamics::ReferentialSkeleton::getBodyNodes ( const std::string & name ) const

overridevirtual

Returns all the BodyNodes of given name.

Parameters

[in] name The BodyNode name that want to search.

Returns: The list of BodyNodes of given name.

Note: ReferentialSkeleton can contain multiple BodyNodes with the same name when ReferentialSkeleton contains BodyNodes from multiple Skeletons.

Implements dart::dynamics::MetaSkeleton.

◆ getCOMJacobianSpatialDeriv()

math::Jacobian dart::dynamics::ReferentialSkeleton::getCOMJacobianSpatialDeriv ( const Frame * _inCoordinatesOf = Frame::World() ) const

overridevirtual

Get the Skeleton's COM Jacobian spatial time derivative in terms of any Frame (default is World Frame).

NOTE: Since this is a spatial time derivative, it is only meant to be used with spatial acceleration vectors. If you are using classical linear vectors, then use getCOMLinearJacobianDeriv() instead.

Implements dart::dynamics::MetaSkeleton.

◆ getCOMLinearJacobianDeriv()

math::LinearJacobian dart::dynamics::ReferentialSkeleton::getCOMLinearJacobianDeriv ( const Frame * _inCoordinatesOf = Frame::World() ) const

overridevirtual

Get the Skeleton's COM Linear Jacobian time derivative in terms of any Frame (default is World Frame).

NOTE: Since this is a classical time derivative, it is only meant to be used with classical acceleration vectors. If you are using spatial vectors, then use getCOMJacobianSpatialDeriv() instead.

Implements dart::dynamics::MetaSkeleton.

◆ getCoriolisAndGravityForces()

const Eigen::VectorXd & dart::dynamics::ReferentialSkeleton::getCoriolisAndGravityForces ( ) const

overridevirtual

Get combined vector of Coriolis force and gravity force of the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getIndexOf() [1/3]

std::size_t dart::dynamics::ReferentialSkeleton::getIndexOf	(	const BodyNode *	_bn,
		bool	_warning = `true`
	)		const

overridevirtual

Get the index of a specific BodyNode within this ReferentialSkeleton.

Returns INVALID_INDEX if it is not held in this ReferentialSkeleton. When _warning is true, a warning message will be printed if the BodyNode is not in the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getIndexOf() [2/3]

std::size_t dart::dynamics::ReferentialSkeleton::getIndexOf	(	const Joint *	_joint,
		bool	_warning = `true`
	)		const

overridevirtual

Get the index of a specific Joint within this ReferentialSkeleton.

Returns INVALID_INDEX if it is not held in this ReferentialSkeleton. When _warning is true, a warning message will be printed if the Joint is not in the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getIndexOf() [3/3]

std::size_t dart::dynamics::ReferentialSkeleton::getIndexOf	(	const DegreeOfFreedom *	_dof,
		bool	_warning = `true`
	)		const

overridevirtual

Get the index of a specific DegreeOfFreedom within this ReferentialSkeleton.

Returns INVALID_INDEX if it is not held in this ReferentialSkeleton. When _warning is true, a warning message will be printed if the DegreeOfFreedom is not in the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobian() [1/4]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobian ( const JacobianNode * _node ) const

overridevirtual

Get the spatial Jacobian targeting the origin of a BodyNode.

The Jacobian is expressed in the Frame of the BodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobian() [2/4]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobian	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobian() [3/4]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset
	)		const

overridevirtual

Get the spatial Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. The Jacobian is expressed in the Frame of the BodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobian() [4/4]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianClassicDeriv() [1/3]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobianClassicDeriv ( const JacobianNode * _node ) const

overridevirtual

Get the spatial Jacobian (classical) time derivative targeting the origin of a BodyNode.

The Jacobian is expressed in the World Frame.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianClassicDeriv() [2/3]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobianClassicDeriv	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian (classical) time derivative targeting the origin a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianClassicDeriv() [3/3]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobianClassicDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the spatial Jacobian (classical) time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianSpatialDeriv() [1/4]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobianSpatialDeriv ( const JacobianNode * _node ) const

overridevirtual

Get the spatial Jacobian time derivative targeting the origin of a BodyNode.

The Jacobian is expressed in the Frame of the BodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianSpatialDeriv() [2/4]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobianSpatialDeriv	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian time derivative targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianSpatialDeriv() [3/4]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobianSpatialDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset
	)		const

overridevirtual

Get the spatial Jacobian time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. The Jacobian is expressed in the Frame of the BodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianSpatialDeriv() [4/4]

math::Jacobian dart::dynamics::ReferentialSkeleton::getJacobianSpatialDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJoint() [1/2]

Joint * dart::dynamics::ReferentialSkeleton::getJoint ( const std::string & name )

overridevirtual

Returns the Joint of given name.

Parameters

[in] name The joint name that want to search.

Returns: The joint of given name.

Note: ReferentialSkeleton can contain multiple Joints with the same name when this ReferentialSkeleton contains Joints from multiple Skeletons. In this case, this function returns the first one, which is implementation dependent, and prints a warning.

Implements dart::dynamics::MetaSkeleton.

◆ getJoint() [2/2]

const Joint * dart::dynamics::ReferentialSkeleton::getJoint ( const std::string & name ) const

overridevirtual

Returns the Joint of given name.

Parameters

[in] name The joint name that want to search.

Returns: The joint of given name.

Note: ReferentialSkeleton can contain multiple Joints with the same name when this ReferentialSkeleton contains Joints from multiple Skeletons. In this case, this function returns the first one, which is implementation dependent, and prints a warning.

Implements dart::dynamics::MetaSkeleton.

◆ getJoints() [1/2]

std::vector< Joint * > dart::dynamics::ReferentialSkeleton::getJoints ( const std::string & name )

overridevirtual

Returns all the Joint of given name.

This MetaSkeleton can contain multiple Joints with the same name when this MetaSkeleton contains Joints from multiple Skeletons.

Parameters

[in] name The joint name that want to search.

Returns: The list of joints of given name.

Note: ReferentialSkeleton can contain multiple Joints with the same name when ReferentialSkeleton contains Joints from multiple Skeletons.

Implements dart::dynamics::MetaSkeleton.

◆ getJoints() [2/2]

std::vector< const Joint * > dart::dynamics::ReferentialSkeleton::getJoints ( const std::string & name ) const

overridevirtual

Returns all the Joint of given name.

This MetaSkeleton can contain multiple Joints with the same name when this MetaSkeleton contains Joints from multiple Skeletons.

Parameters

[in] name The joint name that want to search.

Returns: The list of joints of given name.

Note: ReferentialSkeleton can contain multiple Joints with the same name when ReferentialSkeleton contains Joints from multiple Skeletons.

Implements dart::dynamics::MetaSkeleton.

◆ getLinearJacobian() [1/2]

math::LinearJacobian dart::dynamics::ReferentialSkeleton::getLinearJacobian	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the linear Jacobian targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getLinearJacobian() [2/2]

math::LinearJacobian dart::dynamics::ReferentialSkeleton::getLinearJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the linear Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getLinearJacobianDeriv() [1/2]

math::LinearJacobian dart::dynamics::ReferentialSkeleton::getLinearJacobianDeriv	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

of a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getLinearJacobianDeriv() [2/2]

math::LinearJacobian dart::dynamics::ReferentialSkeleton::getLinearJacobianDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the linear Jacobian (classical) time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getMass()

double dart::dynamics::ReferentialSkeleton::getMass ( ) const

overridevirtual

Get the total mass of all BodyNodes in this ReferentialSkeleton.

For ReferentialSkeleton::getMass(), the total mass is computed upon request, so this is a linear-time O(N) operation. The Skeleton::getMass() version, however, is constant-time.

Implements dart::dynamics::MetaSkeleton.

◆ getWorldJacobian() [1/2]

math::Jacobian dart::dynamics::ReferentialSkeleton::getWorldJacobian ( const JacobianNode * _node ) const

overridevirtual

Get the spatial Jacobian targeting the origin of a BodyNode.

The Jacobian is expressed in the World Frame.

Implements dart::dynamics::MetaSkeleton.

◆ getWorldJacobian() [2/2]

math::Jacobian dart::dynamics::ReferentialSkeleton::getWorldJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset
	)		const

overridevirtual

Get the spatial Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. The Jacobian is expressed in the World Frame.

Implements dart::dynamics::MetaSkeleton.

◆ hasSkeleton()

bool dart::dynamics::ReferentialSkeleton::hasSkeleton ( const Skeleton * skel ) const

Returns whether this ReferentialSkeleton contains any BodyNode or Joint from skel.