dart::dynamics::Skeleton Class Reference

class Skeleton More...

#include <Skeleton.hpp>

Inheritance diagram for dart::dynamics::Skeleton:

Collaboration diagram for dart::dynamics::Skeleton:

Classes
struct	Configuration
	The Configuration struct represents the joint configuration of a Skeleton. More...
struct	DataCache
struct	DirtyFlags

Public Types
enum	ConfigFlags {   CONFIG_NOTHING = 0, CONFIG_POSITIONS = 1 << 1, CONFIG_VELOCITIES = 1 << 2, CONFIG_ACCELERATIONS = 1 << 3,   CONFIG_FORCES = 1 << 4, CONFIG_COMMANDS = 1 << 5, CONFIG_ALL = 0xFF }
using	AspectPropertiesData = detail::SkeletonAspectProperties
using	AspectProperties = common::Aspect::MakeProperties< AspectPropertiesData >
using	State = common::Composite::State
using	Properties = common::Composite::Properties
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 Types inherited from dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >
using	Impl = EmbedProperties< DerivedT, PropertiesDataT >
using	Derived = typename Impl::Derived
using	AspectPropertiesData = typename Impl::AspectPropertiesData
using	AspectProperties = typename Impl::AspectProperties
using	Aspect = typename Impl::Aspect
using	Base = CompositeJoiner< Impl, CompositeBases... >

Public Member Functions
void	integratePositions (double _dt)
void	integrateVelocities (double _dt)
Eigen::VectorXd	getPositionDifferences (const Eigen::VectorXd &_q2, const Eigen::VectorXd &_q1) const
	Return the difference of two generalized positions which are measured in the configuration space of this Skeleton. More...
Eigen::VectorXd	getVelocityDifferences (const Eigen::VectorXd &_dq2, const Eigen::VectorXd &_dq1) const
	Return the difference of two generalized velocities or accelerations which are measured in the tangent space at the identity. More...
void	computeForwardKinematics (bool _updateTransforms=true, bool _updateVels=true, bool _updateAccs=true)
	Compute forward kinematics. More...
void	computeForwardDynamics ()
	Compute forward dynamics.
void	computeInverseDynamics (bool _withExternalForces=false, bool _withDampingForces=false, bool _withSpringForces=false)
	Computes inverse dynamics. More...
void	clearConstraintImpulses ()
	Clear constraint impulses and cache data used for impulse-based forward dynamics algorithm, where the constraint impulses are spatial constraints on the BodyNodes and generalized constraints on the Joints. More...
void	updateBiasImpulse (BodyNode *_bodyNode)
	Update bias impulses.
void	updateBiasImpulse (BodyNode *_bodyNode, const Eigen::Vector6d &_imp)
	Update bias impulses due to impulse [_imp] on body node [_bodyNode]. More...
void	updateBiasImpulse (BodyNode *_bodyNode1, const Eigen::Vector6d &_imp1, BodyNode *_bodyNode2, const Eigen::Vector6d &_imp2)
	Update bias impulses due to impulse [_imp] on body node [_bodyNode]. More...
void	updateBiasImpulse (SoftBodyNode *_softBodyNode, PointMass *_pointMass, const Eigen::Vector3d &_imp)
	Update bias impulses due to impulse[_imp] on body node [_bodyNode].
void	updateVelocityChange ()
	Update velocity changes in body nodes and joints due to applied impulse.
void	setImpulseApplied (bool _val)
	Set whether this skeleton is constrained. More...
bool	isImpulseApplied () const
	Get whether this skeleton is constrained.
void	computeImpulseForwardDynamics ()
	Compute impulse-based forward dynamics.
void	resetUnion ()
Configuration
void	setConfiguration (const Configuration &configuration)
	Set the configuration of this Skeleton.
Configuration	getConfiguration (int flags=CONFIG_ALL) const
	Get the configuration of this Skeleton.
Configuration	getConfiguration (const std::vector< std::size_t > &indices, int flags=CONFIG_ALL) const
	Get the configuration of the specified indices in this Skeleton.
State
void	setState (const State &state)
	Set the State of this Skeleton [alias for setCompositeState(~)].
State	getState () const
	Get the State of this Skeleton [alias for getCompositeState()].
Properties
void	setProperties (const Properties &properties)
	Set all properties of this Skeleton.
Properties	getProperties () const
	Get all properties of this Skeleton.
void	setProperties (const AspectProperties &properties)
	Set the Properties of this Skeleton.
const AspectProperties &	getSkeletonProperties () const
	Get the Properties of this Skeleton.
void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this Skeleton.
const std::string &	setName (const std::string &_name) override
	Set name.
const std::string &	getName () const override
	Get name.
void	enableSelfCollision (bool enableAdjacentBodyCheck=false)
	Deprecated. More...
void	disableSelfCollision ()
	Deprecated. Please use disableSelfCollisionCheck() instead.
void	setSelfCollisionCheck (bool enable)
	Set whether to check self-collision.
bool	getSelfCollisionCheck () const
	Return whether self-collision check is enabled.
void	enableSelfCollisionCheck ()
	Enable self-collision check.
void	disableSelfCollisionCheck ()
	Disable self-collision check.
bool	isEnabledSelfCollisionCheck () const
	Return true if self-collision check is enabled.
void	setAdjacentBodyCheck (bool enable)
	Set whether to check adjacent bodies. More...
bool	getAdjacentBodyCheck () const
	Return whether adjacent body check is enabled.
void	enableAdjacentBodyCheck ()
	Enable collision check for adjacent bodies. More...
void	disableAdjacentBodyCheck ()
	Disable collision check for adjacent bodies. More...
bool	isEnabledAdjacentBodyCheck () const
	Return true if self-collision check is enabled including adjacent bodies.
void	setMobile (bool _isMobile)
	Set whether this skeleton will be updated by forward dynamics. More...
bool	isMobile () const
	Get whether this skeleton will be updated by forward dynamics. More...
void	setTimeStep (double _timeStep)
	Set time step. More...
double	getTimeStep () const
	Get time step.
void	setGravity (const Eigen::Vector3d &_gravity)
	Set 3-dim gravitational acceleration. More...
const Eigen::Vector3d &	getGravity () const
	Get 3-dim gravitational acceleration.
Structural Properties
template<class JointType , class NodeType = BodyNode>
std::pair< JointType *, NodeType * >	createJointAndBodyNodePair (BodyNode *_parent=nullptr, const typename JointType::Properties &_jointProperties=typename JointType::Properties(), const typename NodeType::Properties &_bodyProperties=typename NodeType::Properties())
	Create a Joint and child BodyNode pair of the given types. More...
std::size_t	getNumBodyNodes () const override
	Get number of body nodes.
std::size_t	getNumRigidBodyNodes () const
	Get number of rigid body nodes.
std::size_t	getNumSoftBodyNodes () const
	Get number of soft body nodes.
std::size_t	getNumTrees () const
	Get the number of independent trees that this Skeleton contains.
BodyNode *	getRootBodyNode (std::size_t _treeIdx=0)
	Get the root BodyNode of the tree whose index in this Skeleton is _treeIdx.
const BodyNode *	getRootBodyNode (std::size_t _treeIdx=0) const
	Get the const root BodyNode of the tree whose index in this Skeleton is _treeIdx.
Joint *	getRootJoint (std::size_t treeIdx=0u)
	Get the root Joint of the tree whose index in this Skeleton is treeIdx.
const Joint *	getRootJoint (std::size_t treeIdx=0u) const
	Get the const root Joint of the tree whose index in this Skeleton is treeIdx.
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.
SoftBodyNode *	getSoftBodyNode (std::size_t _idx)
	Get SoftBodyNode whose index is _idx.
const SoftBodyNode *	getSoftBodyNode (std::size_t _idx) const
	Get const SoftBodyNode 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...
SoftBodyNode *	getSoftBodyNode (const std::string &_name)
	Get soft body node whose name is _name.
const SoftBodyNode *	getSoftBodyNode (const std::string &_name) const
	Get const soft body node whose name is _name.
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...
const std::vector< BodyNode * > &	getTreeBodyNodes (std::size_t _treeIdx)
	Get the BodyNodes belonging to a tree in this Skeleton.
std::vector< const BodyNode * >	getTreeBodyNodes (std::size_t _treeIdx) const
	Get the BodyNodes belonging to a tree in this Skeleton.
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.
DegreeOfFreedom *	getDof (const std::string &_name)
	Get degree of freedom (aka generalized coordinate) whose name is _name.
const DegreeOfFreedom *	getDof (const std::string &_name) const
	Get degree of freedom (aka generalized coordinate) whose name is _name.
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...
const std::vector< DegreeOfFreedom * > &	getTreeDofs (std::size_t _treeIdx)
	Get the DegreesOfFreedom belonging to a tree in this Skeleton.
const std::vector< const DegreeOfFreedom * > &	getTreeDofs (std::size_t _treeIdx) const
	Get the DegreesOfFreedom belonging to a tree in this Skeleton.
bool	checkIndexingConsistency () const
	This function is only meant for debugging purposes. More...
const std::shared_ptr< WholeBodyIK > &	getIK (bool _createIfNull=false)
	Get a pointer to a WholeBodyIK module for this Skeleton. More...
const std::shared_ptr< WholeBodyIK > &	getOrCreateIK ()
	Get a pointer to a WholeBodyIK module for this Skeleton. More...
std::shared_ptr< const WholeBodyIK >	getIK () const
	Get a pointer to a WholeBodyIK module for this Skeleton. More...
const std::shared_ptr< WholeBodyIK > &	createIK ()
	Create a new WholeBodyIK module for this Skeleton. More...
void	clearIK ()
	Wipe away the WholeBodyIK module for this Skeleton, leaving it as a nullptr.
Support Polygon
const math::SupportPolygon &	getSupportPolygon () const
	Get the support polygon of this Skeleton, which is computed based on the gravitational projection of the support geometries of all EndEffectors in this Skeleton that are currently in support mode. More...
const math::SupportPolygon &	getSupportPolygon (std::size_t _treeIdx) const
	Same as getSupportPolygon(), but it will only use EndEffectors within the specified tree within this Skeleton.
const std::vector< std::size_t > &	getSupportIndices () const
	Get a list of the EndEffector indices that correspond to each of the points in the support polygon. More...
const std::vector< std::size_t > &	getSupportIndices (std::size_t _treeIdx) const
	Same as getSupportIndices(), but it corresponds to the support polygon of the specified tree within this Skeleton.
const std::pair< Eigen::Vector3d, Eigen::Vector3d > &	getSupportAxes () const
	Get the axes that correspond to each component in the support polygon. More...
const std::pair< Eigen::Vector3d, Eigen::Vector3d > &	getSupportAxes (std::size_t _treeIdx) const
	Same as getSupportAxes(), but it corresponds to the support polygon of the specified tree within this Skeleton.
const Eigen::Vector2d &	getSupportCentroid () const
	Get the centroid of the support polygon for this Skeleton. More...
const Eigen::Vector2d &	getSupportCentroid (std::size_t _treeIdx) const
	Get the centroid of the support polygon for a tree in this Skeleton. More...
std::size_t	getSupportVersion () const
	The version number of a support polygon will be incremented each time the support polygon needs to be recomputed. More...
std::size_t	getSupportVersion (std::size_t _treeIdx) const
	Same as getSupportVersion(), but it corresponds to the support polygon of the specified tree within this Skeleton.
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 total mass of the skeleton. More...
const Eigen::MatrixXd &	getMassMatrix (std::size_t _treeIdx) const
	Get the mass matrix of a specific tree in the Skeleton.
const Eigen::MatrixXd &	getMassMatrix () const override
	Get the Mass Matrix of the MetaSkeleton.
const Eigen::MatrixXd &	getAugMassMatrix (std::size_t _treeIdx) const
	Get the augmented mass matrix of a specific tree in the Skeleton.
const Eigen::MatrixXd &	getAugMassMatrix () const override
	Get augmented mass matrix of the skeleton. More...
const Eigen::MatrixXd &	getInvMassMatrix (std::size_t _treeIdx) const
	Get the inverse mass matrix of a specific tree in the Skeleton.
const Eigen::MatrixXd &	getInvMassMatrix () const override
	Get inverse of Mass Matrix of the MetaSkeleton.
const Eigen::MatrixXd &	getInvAugMassMatrix (std::size_t _treeIdx) const
	Get the inverse augmented mass matrix of a tree.
const Eigen::MatrixXd &	getInvAugMassMatrix () const override
	Get inverse of augmented Mass Matrix of the MetaSkeleton.
const Eigen::VectorXd &	getCoriolisForces (std::size_t _treeIdx) const
	Get the Coriolis force vector of a tree in this Skeleton.
const Eigen::VectorXd &	getCoriolisForces () const override
	Get Coriolis force vector of the MetaSkeleton's BodyNodes.
const Eigen::VectorXd &	getGravityForces (std::size_t _treeIdx) const
	Get the gravity forces for a tree in this Skeleton.
const Eigen::VectorXd &	getGravityForces () const override
	Get gravity force vector of the MetaSkeleton.
const Eigen::VectorXd &	getCoriolisAndGravityForces (std::size_t _treeIdx) const
	Get the combined vector of Coriolis force and gravity force of a tree.
const Eigen::VectorXd &	getCoriolisAndGravityForces () const override
	Get combined vector of Coriolis force and gravity force of the MetaSkeleton. More...
const Eigen::VectorXd &	getExternalForces (std::size_t _treeIdx) const
	Get the external force vector of a tree in the Skeleton.
const Eigen::VectorXd &	getExternalForces () const override
	Get external force vector of the MetaSkeleton.
const Eigen::VectorXd &	getConstraintForces (std::size_t _treeIdx) const
	Get damping force of the skeleton. More...
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.
void	notifyArticulatedInertiaUpdate (std::size_t _treeIdx)
	Notify that the articulated inertia and everything that depends on it needs to be updated.
void	dirtyArticulatedInertia (std::size_t _treeIdx)
	Notify that the articulated inertia and everything that depends on it needs to be updated.
void	notifySupportUpdate (std::size_t _treeIdx)
	Notify that the support polygon of a tree needs to be updated.
void	dirtySupportPolygon (std::size_t _treeIdx)
	Notify that the support polygon of a tree needs to be updated.
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 Skeleton'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 Skeleton'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 Skeleton's COM Jacobian in terms of any Frame (default is World Frame)
math::LinearJacobian	getCOMLinearJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override
	Get the Skeleton'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::common::VersionCounter
	VersionCounter ()
	Default constructor.
virtual std::size_t	incrementVersion ()
	Increment the version for this object.
virtual std::size_t	getVersion () const
	Get the version number of this object.
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.
Public Member Functions inherited from dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >
template<typename... Args>
	EmbedPropertiesOnTopOf (Args &&... args)

Public Attributes
std::weak_ptr< Skeleton >	mUnionRootSkeleton
std::size_t	mUnionSize
std::size_t	mUnionIndex
Public Attributes inherited from dart::dynamics::MetaSkeleton
common::SlotRegister< NameChangedSignal >	onNameChanged

Protected Types
using	SpecializedTreeNodes = std::map< std::type_index, std::vector< NodeMap::iterator > * >

Protected Member Functions
	Skeleton (const AspectPropertiesData &_properties)
	Constructor called by create()
void	setPtr (const SkeletonPtr &_ptr)
	Setup this Skeleton with its shared_ptr.
void	constructNewTree ()
	Construct a new tree in the Skeleton.
void	registerBodyNode (BodyNode *_newBodyNode)
	Register a BodyNode with the Skeleton. Internal use only.
void	registerJoint (Joint *_newJoint)
	Register a Joint with the Skeleton. Internal use only.
void	registerNode (NodeMap &nodeMap, Node *_newNode, std::size_t &_index)
	Register a Node with the Skeleton. Internal use only.
void	registerNode (Node *_newNode)
	Register a Node with the Skeleton. Internal use only.
void	destructOldTree (std::size_t tree)
	Remove an old tree from the Skeleton.
void	unregisterBodyNode (BodyNode *_oldBodyNode)
	Remove a BodyNode from the Skeleton. Internal use only.
void	unregisterJoint (Joint *_oldJoint)
	Remove a Joint from the Skeleton. Internal use only.
void	unregisterNode (NodeMap &nodeMap, Node *_oldNode, std::size_t &_index)
	Remove a Node from the Skeleton. Internal use only.
void	unregisterNode (Node *_oldNode)
	Remove a Node from the Skeleton. Internal use only.
bool	moveBodyNodeTree (Joint *_parentJoint, BodyNode *_bodyNode, SkeletonPtr _newSkeleton, BodyNode *_parentNode)
	Move a subtree of BodyNodes from this Skeleton to another Skeleton.
template<class JointType >
JointType *	moveBodyNodeTree (BodyNode *_bodyNode, const SkeletonPtr &_newSkeleton, BodyNode *_parentNode, const typename JointType::Properties &_joint)
	Move a subtree of BodyNodes from this Skeleton to another Skeleton while changing the Joint type of the top parent Joint. More...
std::pair< Joint *, BodyNode * >	cloneBodyNodeTree (Joint *_parentJoint, const BodyNode *_bodyNode, const SkeletonPtr &_newSkeleton, BodyNode *_parentNode, bool _recursive) const
	Copy a subtree of BodyNodes onto another Skeleton while leaving the originals intact.
template<class JointType >
std::pair< JointType *, BodyNode * >	cloneBodyNodeTree (const BodyNode *_bodyNode, const SkeletonPtr &_newSkeleton, BodyNode *_parentNode, const typename JointType::Properties &_joint, bool _recursive) const
	Copy a subtree of BodyNodes onto another Skeleton while leaving the originals intact, but alter the top parent Joint to a new type.
std::vector< const BodyNode * >	constructBodyNodeTree (const BodyNode *_bodyNode) const
	Create a vector representation of a subtree of BodyNodes.
std::vector< BodyNode * >	constructBodyNodeTree (BodyNode *_bodyNode)
std::vector< BodyNode * >	extractBodyNodeTree (BodyNode *_bodyNode)
	Create a vector representation of a subtree of BodyNodes and remove that subtree from this Skeleton without deleting them.
void	receiveBodyNodeTree (const std::vector< BodyNode *> &_tree)
	Take in and register a subtree of BodyNodes.
void	updateTotalMass ()
	Update the computation for total mass.
void	updateCacheDimensions (DataCache &_cache)
	Update the dimensions for a specific cache.
void	updateCacheDimensions (std::size_t _treeIdx)
	Update the dimensions for a tree's cache.
void	updateArticulatedInertia (std::size_t _tree) const
	Update the articulated inertia of a tree.
void	updateArticulatedInertia () const
	Update the articulated inertias of the skeleton.
void	updateMassMatrix (std::size_t _treeIdx) const
	Update the mass matrix of a tree.
void	updateMassMatrix () const
	Update mass matrix of the skeleton.
void	updateAugMassMatrix (std::size_t _treeIdx) const
void	updateAugMassMatrix () const
	Update augmented mass matrix of the skeleton.
void	updateInvMassMatrix (std::size_t _treeIdx) const
	Update the inverse mass matrix of a tree.
void	updateInvMassMatrix () const
	Update inverse of mass matrix of the skeleton.
void	updateInvAugMassMatrix (std::size_t _treeIdx) const
	Update the inverse augmented mass matrix of a tree.
void	updateInvAugMassMatrix () const
	Update inverse of augmented mass matrix of the skeleton.
void	updateCoriolisForces (std::size_t _treeIdx) const
	Update Coriolis force vector for a tree in the Skeleton.
void	updateCoriolisForces () const
	Update Coriolis force vector of the skeleton.
void	updateGravityForces (std::size_t _treeIdx) const
	Update the gravity force vector of a tree.
void	updateGravityForces () const
	Update gravity force vector of the skeleton.
void	updateCoriolisAndGravityForces (std::size_t _treeIdx) const
	Update the combined vector for a tree in this Skeleton.
void	updateCoriolisAndGravityForces () const
	Update combined vector of the skeleton.
void	updateExternalForces (std::size_t _treeIdx) const
	Update external force vector to generalized forces for a tree.
void	updateExternalForces () const
	update external force vector to generalized forces.
const Eigen::VectorXd &	computeConstraintForces (DataCache &cache) const
	Compute the constraint force vector for a tree.
const std::string &	addEntryToBodyNodeNameMgr (BodyNode *_newNode)
	Add a BodyNode to the BodyNode NameManager.
const std::string &	addEntryToJointNameMgr (Joint *_newJoint, bool _updateDofNames=true)
	Add a Joint to to the Joint NameManager.
void	addEntryToSoftBodyNodeNameMgr (SoftBodyNode *_newNode)
	Add a SoftBodyNode to the SoftBodyNode NameManager.
void	updateNameManagerNames ()
Protected Member Functions inherited from dart::common::VersionCounter
void	setVersionDependentObject (VersionCounter *dependent)
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< Skeleton >	mPtr
	The resource-managing pointer to this Skeleton.
std::vector< SoftBodyNode * >	mSoftBodyNodes
	List of Soft body node list in the skeleton.
dart::common::NameManager< BodyNode * >	mNameMgrForBodyNodes
	NameManager for tracking BodyNodes.
dart::common::NameManager< Joint * >	mNameMgrForJoints
	NameManager for tracking Joints.
dart::common::NameManager< DegreeOfFreedom * >	mNameMgrForDofs
	NameManager for tracking DegreesOfFreedom.
dart::common::NameManager< SoftBodyNode * >	mNameMgrForSoftBodyNodes
	NameManager for tracking SoftBodyNodes.
std::shared_ptr< WholeBodyIK >	mWholeBodyIK
	WholeBodyIK module for this Skeleton.
common::aligned_vector< DataCache >	mTreeCache
DataCache	mSkelCache
SpecializedTreeNodes	mSpecializedTreeNodes
double	mTotalMass
	Total mass.
bool	mIsImpulseApplied
	Flag for status of impulse testing.
std::mutex	mMutex
Protected Attributes inherited from dart::common::VersionCounter
std::size_t	mVersion
Protected Attributes inherited from dart::dynamics::MetaSkeleton
NameChangedSignal	mNameChangedSignal
Protected Attributes inherited from dart::common::Subject
std::set< Observer * >	mObservers
	List of current Observers.

Friends
class	BodyNode
class	SoftBodyNode
class	Joint
template<class >
class	GenericJoint
class	DegreeOfFreedom
class	Node
class	ShapeNode
class	EndEffector

Constructor and Destructor
static SkeletonPtr	create (const std::string &_name="Skeleton")
	Create a new Skeleton inside of a shared_ptr.
static SkeletonPtr	create (const AspectPropertiesData &properties)
	Create a new Skeleton inside of a shared_ptr.
SkeletonPtr	getPtr ()
	Get the shared_ptr that manages this Skeleton.
ConstSkeletonPtr	getPtr () const
	Get the shared_ptr that manages this Skeleton.
SkeletonPtr	getSkeleton ()
	Same as getPtr(), but this allows Skeleton to have a similar interface as BodyNode and Joint for template programming. More...
ConstSkeletonPtr	getSkeleton () const
	Same as getPtr(), but this allows Skeleton to have a similar interface as BodyNode and Joint for template programming. More...
std::mutex &	getMutex () const
	Get the mutex that protects the state of this Skeleton.
std::unique_ptr< common::LockableReference >	getLockableReference () const override
	Get the mutex that protects the state of this Skeleton.
	Skeleton (const Skeleton &)=delete
virtual	~Skeleton ()
	Destructor.
Skeleton &	operator= (const Skeleton &_other)=delete
	Remove copy operator.
SkeletonPtr	clone () const
	Create an identical clone of this Skeleton. More...
SkeletonPtr	clone (const std::string &cloneName) const
	Create an identical clone of this Skeleton, except that it has a new name. More...
SkeletonPtr	cloneSkeleton () const
	Creates and returns a clone of this Skeleton.
SkeletonPtr	cloneSkeleton (const std::string &cloneName) const
	Creates and returns a clone of this Skeleton.
MetaSkeletonPtr	cloneMetaSkeleton (const std::string &cloneName) const override
	Creates an identical clone of this MetaSkeleton.

Detailed Description

class Skeleton

Member Function Documentation

checkIndexingConsistency()

bool dart::dynamics::Skeleton::checkIndexingConsistency

(

)

const

This function is only meant for debugging purposes.

It will verify that all objects held in the Skeleton have the correct information about their indexing.

clearConstraintImpulses()

void dart::dynamics::Skeleton::clearConstraintImpulses

(

)

Clear constraint impulses and cache data used for impulse-based forward dynamics algorithm, where the constraint impulses are spatial constraints on the BodyNodes and generalized constraints on the Joints.

clone() [1/2]

SkeletonPtr dart::dynamics::Skeleton::clone

(

)

const

Create an identical clone of this Skeleton.

Deprecated:

Deprecated in DART 6.7. Please use cloneSkeleton() instead.

clone() [2/2]

SkeletonPtr dart::dynamics::Skeleton::clone

(

const std::string &

cloneName

)

const

Create an identical clone of this Skeleton, except that it has a new name.

Deprecated:

Deprecated in DART 6.7. Please use cloneSkeleton() instead.

computeForwardKinematics()

void dart::dynamics::Skeleton::computeForwardKinematics	(	bool	_updateTransforms = true,
		bool	_updateVels = true,
		bool	_updateAccs = true
	)

Compute forward kinematics.

In general, this function doesn't need to be called for forward kinematics to update. Forward kinematics will always be computed when it's needed and will only perform the computations that are necessary for what the user requests. This works by performing some bookkeeping internally with dirty flags whenever a position, velocity, or acceleration is set, either internally or by the user.

On one hand, this results in some overhead due to the extra effort of bookkeeping, but on the other hand we have much greater code safety, and in some cases performance can be dramatically improved with the auto- updating. For example, this function is inefficient when only one portion of the BodyNodes needed to be updated rather than the entire Skeleton, which is common when performing inverse kinematics on a limb or on some subsection of a Skeleton.

This function might be useful in a case where the user wants to perform all the forward kinematics computations during a particular time window rather than waiting for it to be computed at the exact time that it's needed.

One example would be a real time controller. Let's say a controller gets encoder data at time t0 but needs to wait until t1 before it receives the force-torque sensor data that it needs in order to compute the output for an operational space controller. Instead of being idle from t0 to t1, it could use that time to compute the forward kinematics by calling this function.

computeInverseDynamics()

void dart::dynamics::Skeleton::computeInverseDynamics	(	bool	_withExternalForces = false,
		bool	_withDampingForces = false,
		bool	_withSpringForces = false
	)

Computes inverse dynamics.

The inverse dynamics is computed according to the following equations of motion:

\( M(q) \ddot{q} + C(q, \dot{q}) + N(q) - \tau_{\text{ext}} - \tau_d - \tau_s = \tau \)

where \( \tau_{\text{ext}} \), \( \tau_d \), and \( \tau_s \) are external forces, joint damping forces, and joint spring forces projected on to the joint space, respectively. This function provides three flags whether to take into account each forces in computing the joint forces, \( \tau_d \). Not accounting each forces implies that the forces is added to \( \tau \) in order to keep the equation equivalent. If there forces are zero (by setting external forces, damping coeff, spring stiffness zeros), these flags have no effect.

Once this function is called, the joint forces, \( \tau \), can be obtained by calling getForces().

Parameters

[in]	_withExternalForces	Set true to take external forces into account.
[in]	_withDampingForces	Set true to take damping forces into account.
[in]	_withSpringForces	Set true to take spring forces into account.

createIK()

const std::shared_ptr< WholeBodyIK > & dart::dynamics::Skeleton::createIK

(

)

Create a new WholeBodyIK module for this Skeleton.

If an IK module already exists in this Skeleton, it will be destroyed and replaced by a brand new one.

createJointAndBodyNodePair()

template<class JointType , class NodeType >

std::pair< JointType *, NodeType * > dart::dynamics::Skeleton::createJointAndBodyNodePair	(	BodyNode *	_parent = nullptr,
		const typename JointType::Properties &	_jointProperties = typename JointType::Properties(),
		const typename NodeType::Properties &	_bodyProperties = typename NodeType::Properties()
	)

Create a Joint and child BodyNode pair of the given types.

When creating a root (parentless) BodyNode, pass in nullptr for the _parent argument.

disableAdjacentBodyCheck()

void dart::dynamics::Skeleton::disableAdjacentBodyCheck

(

)

Disable collision check for adjacent bodies.

This option is effective only when the self-collision check is enabled.

enableAdjacentBodyCheck()

void dart::dynamics::Skeleton::enableAdjacentBodyCheck

(

)

Enable collision check for adjacent bodies.

This option is effective only when the self-collision check is enabled.

enableSelfCollision()

void dart::dynamics::Skeleton::enableSelfCollision

(

bool

enableAdjacentBodyCheck = false

)

Deprecated.

Please use enableSelfCollisionCheck() and setAdjacentBodyCheck() instead.

getAngularJacobian()

math::AngularJacobian dart::dynamics::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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.

Implements dart::dynamics::MetaSkeleton.

getBodyNode() [2/2]

const BodyNode * dart::dynamics::Skeleton::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.

Implements dart::dynamics::MetaSkeleton.

getBodyNodes() [1/2]

std::vector< BodyNode * > dart::dynamics::Skeleton::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

Skeleton always guarantees name uniqueness for BodyNodes and Joints. So this function returns the single BodyNode of the given name if it exists.

Implements dart::dynamics::MetaSkeleton.

getBodyNodes() [2/2]

std::vector< const BodyNode * > dart::dynamics::Skeleton::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

Skeleton always guarantees name uniqueness for BodyNodes and Joints. So this function returns the single BodyNode of the given name if it exists.

Implements dart::dynamics::MetaSkeleton.

getCOMJacobianSpatialDeriv()

math::Jacobian dart::dynamics::Skeleton::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::Skeleton::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.

getConstraintForces()

const Eigen::VectorXd & dart::dynamics::Skeleton::getConstraintForces

(

std::size_t

_treeIdx

)

const

Get damping force of the skeleton.

Get constraint force vector for a tree

getCoriolisAndGravityForces()

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

overridevirtual

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

Implements dart::dynamics::MetaSkeleton.

getIK() [1/2]

const std::shared_ptr< WholeBodyIK > & dart::dynamics::Skeleton::getIK

(

bool

_createIfNull = false

)

Get a pointer to a WholeBodyIK module for this Skeleton.

If _createIfNull is true, then the IK module will be generated if one does not already exist.

getIK() [2/2]

std::shared_ptr< const WholeBodyIK > dart::dynamics::Skeleton::getIK

(

)

const

Get a pointer to a WholeBodyIK module for this Skeleton.

Because this is a const function, a new IK module cannot be created if one does not already exist.

getIndexOf() [1/3]

std::size_t dart::dynamics::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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.

Implements dart::dynamics::MetaSkeleton.

getJoint() [2/2]

const Joint * dart::dynamics::Skeleton::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.

Implements dart::dynamics::MetaSkeleton.

getJoints() [1/2]

std::vector< Joint * > dart::dynamics::Skeleton::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

Skeleton always guarantees name uniqueness for BodyNodes and Joints. So this function returns the single Joint of the given name if it exists.

Implements dart::dynamics::MetaSkeleton.

getJoints() [2/2]

std::vector< const Joint * > dart::dynamics::Skeleton::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

Skeleton always guarantees name uniqueness for BodyNodes and Joints. So this function returns the single Joint of the given name if it exists.

Implements dart::dynamics::MetaSkeleton.

getLinearJacobian() [1/2]

math::LinearJacobian dart::dynamics::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::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::Skeleton::getMass ( ) const

overridevirtual

Get total mass of the skeleton.

The total mass is calculated as BodyNodes are added and is updated as BodyNode mass is changed, so this is a constant-time O(1) operation for the Skeleton class.

Implements dart::dynamics::MetaSkeleton.

getOrCreateIK()

const std::shared_ptr< WholeBodyIK > & dart::dynamics::Skeleton::getOrCreateIK

(

)

Get a pointer to a WholeBodyIK module for this Skeleton.

The IK module will be generated if one does not already exist. This function is actually the same as getIK(true).

getPositionDifferences()

Eigen::VectorXd dart::dynamics::Skeleton::getPositionDifferences	(	const Eigen::VectorXd &	_q2,
		const Eigen::VectorXd &	_q1
	)		const

Return the difference of two generalized positions which are measured in the configuration space of this Skeleton.

If the configuration space is Euclidean space, this function returns _q2 - _q1. Otherwise, it depends on the type of the configuration space.

getSkeleton() [1/2]

SkeletonPtr dart::dynamics::Skeleton::getSkeleton

(

)

Same as getPtr(), but this allows Skeleton to have a similar interface as BodyNode and Joint for template programming.

getSkeleton() [2/2]

ConstSkeletonPtr dart::dynamics::Skeleton::getSkeleton

(

)

const

Same as getPtr(), but this allows Skeleton to have a similar interface as BodyNode and Joint for template programming.

getSupportAxes()

const std::pair< Eigen::Vector3d, Eigen::Vector3d > & dart::dynamics::Skeleton::getSupportAxes

(

)

const

Get the axes that correspond to each component in the support polygon.

These axes are needed in order to map the points on a support polygon into 3D space. If gravity is along the z-direction, then these axes will simply be <1,0,0> and <0,1,0>.

getSupportCentroid() [1/2]

const Eigen::Vector2d & dart::dynamics::Skeleton::getSupportCentroid

(

)

const

Get the centroid of the support polygon for this Skeleton.

If the support polygon is an empty set, the components of this vector will be nan.

getSupportCentroid() [2/2]

const Eigen::Vector2d & dart::dynamics::Skeleton::getSupportCentroid

(

std::size_t

_treeIdx

)

const

Get the centroid of the support polygon for a tree in this Skeleton.

If the support polygon is an empty set, the components of this vector will be nan.

getSupportIndices()

const std::vector< std::size_t > & dart::dynamics::Skeleton::getSupportIndices

(

)

const

Get a list of the EndEffector indices that correspond to each of the points in the support polygon.

getSupportPolygon()

const math::SupportPolygon & dart::dynamics::Skeleton::getSupportPolygon

(

)

const

Get the support polygon of this Skeleton, which is computed based on the gravitational projection of the support geometries of all EndEffectors in this Skeleton that are currently in support mode.

getSupportVersion()

std::size_t dart::dynamics::Skeleton::getSupportVersion

(

)

const

The version number of a support polygon will be incremented each time the support polygon needs to be recomputed.

This number can be used to immediately determine whether the support polygon has changed since the last time you asked for it, allowing you to be more efficient in how you handle the data.

getVelocityDifferences()

Eigen::VectorXd dart::dynamics::Skeleton::getVelocityDifferences	(	const Eigen::VectorXd &	_dq2,
		const Eigen::VectorXd &	_dq1
	)		const

Return the difference of two generalized velocities or accelerations which are measured in the tangent space at the identity.

Since the tangent spaces are vector spaces, this function always returns _dq2 - _dq1.

getWorldJacobian() [1/2]

math::Jacobian dart::dynamics::Skeleton::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::Skeleton::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.

isMobile()

bool dart::dynamics::Skeleton::isMobile

(

)

const

Get whether this skeleton will be updated by forward dynamics.

Returns

True if this skeleton is mobile.

moveBodyNodeTree()

template<class JointType >

JointType * dart::dynamics::Skeleton::moveBodyNodeTree ( BodyNode *  _bodyNode, const SkeletonPtr &  _newSkeleton, BodyNode *  _parentNode, const typename JointType::Properties &  _joint  )

protected

Move a subtree of BodyNodes from this Skeleton to another Skeleton while changing the Joint type of the top parent Joint.

Returns a nullptr if the move failed for any reason.

setAdjacentBodyCheck()

void dart::dynamics::Skeleton::setAdjacentBodyCheck

(

bool

enable

)

Set whether to check adjacent bodies.

This option is effective only when the self-collision check is enabled.

setGravity()

void dart::dynamics::Skeleton::setGravity

(

const Eigen::Vector3d &

_gravity

)

Set 3-dim gravitational acceleration.

The gravity is used for calculating gravity force vector of the skeleton.

setImpulseApplied()

void dart::dynamics::Skeleton::setImpulseApplied

(

bool

_val

)

Set whether this skeleton is constrained.

ConstraintSolver will mark this.

setMobile()

void dart::dynamics::Skeleton::setMobile

(

bool

_isMobile

)

Set whether this skeleton will be updated by forward dynamics.

Parameters

[in]

_isMobile

True if this skeleton is mobile.

setTimeStep()

void dart::dynamics::Skeleton::setTimeStep

(

double

_timeStep

)

Set time step.

This timestep is used for implicit joint damping force.

updateBiasImpulse() [1/2]

void dart::dynamics::Skeleton::updateBiasImpulse	(	BodyNode *	_bodyNode,
		const Eigen::Vector6d &	_imp
	)

Update bias impulses due to impulse [_imp] on body node [_bodyNode].

Parameters

_bodyNode	Body node contraint impulse, _imp, is applied
_imp	Constraint impulse expressed in body frame of _bodyNode

updateBiasImpulse() [2/2]

void dart::dynamics::Skeleton::updateBiasImpulse	(	BodyNode *	_bodyNode1,
		const Eigen::Vector6d &	_imp1,
		BodyNode *	_bodyNode2,
		const Eigen::Vector6d &	_imp2
	)

Update bias impulses due to impulse [_imp] on body node [_bodyNode].

Parameters

_bodyNode1	Body node contraint impulse, _imp1, is applied
_imp1	Constraint impulse expressed in body frame of _bodyNode1
_bodyNode2	Body node contraint impulse, _imp2, is applied
_imp2	Constraint impulse expressed in body frame of _bodyNode2

---

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

• dart/dynamics/Skeleton.hpp
• dart/dynamics/Skeleton.cpp