Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 123]

▼NRobotDynamics	Namespace for all structures of the RobotDynamics library
▼NMath	Math types such as vectors and matrices and utility functions
CForceVector	A ForceVector is a SpatialVector containing 3 moments and 3 linear forces
CFrameOrientation	A Frame object that represents an orientation(quaternion) relative to a reference frame
CFramePoint	A FramePoint is a 3D point that is expressed in a ReferenceFrame. To change the ReferenceFrame a FramePoint is expressed in, you may call the inhereted FrameObject::changeFrame method and supply it a pointer to the ReferenceFrame you wish to have the FramePoint expressed in. This class and its implementation are an adaptation of FramePoint.java by Jerry Pratt and the IHMC Robotics Group
CFrameVector	A FrameVector is a 3D vector with a ReferenceFrame, and all operations between FrameVectors and other frame objects will perform runtime checks that objects are expressed in the same frames. This class and its implementation are an adaptation of FrameVector.java by Jerry Pratt and the IHMC Robotics Group
CFrameVectorPair	A FrameVector is a pair of 3D vector with a ReferenceFrame
CMatrix3d
CMatrix4d
CMomentum	Momentum is mass/inertia multiplied by velocity
CMotionVector
CPoint3d
CQuaternion	Quaternion that are used for singularity free joints
CRigidBodyInertia	This class stores a bodies mass, center of mass, and inertia information. The inertia elements are stored individually since the inertia matrix is a 3x3 symmetric matrix. The bodies inertia matrix, expressed about its center of mass, can be reconstructed as The full RigidBodyInertia matrix has the following structure, where is a 3x3 identity matrix
CSpatialAcceleration	SpatialAcceleration. For clarity, the ReferenceFrames are stated as follows. A spatial acceleration is the acceleration of the SpatialAcceleration::bodyFrame with respect to the SpatialAcceleration::baseFrame expressed in the SpatialAcceleration::expressedInFrame
CSpatialForce	A SpatialForce is a spatial vector with the angular part being three moments and the linear part being 3 linear forces
CSpatialInertia	A Math::SpatialInertia is a RigidBodyInertia explicitly expressed in a RobotDynamics::ReferenceFrame. The frame a Math::SpatialInertia is expressed in can be changed by calling RobotDynamics::FrameObject::changeFrame
CSpatialMatrix
CSpatialMomentum	A SpatialMomentum is a Momentum expressed in a RobotDynamics::ReferenceFrame. The angular portion of the vector is referred to as and the linear portion as
CSpatialMotion	A SpatialMotion vector is a MotionVector with a RobotDynamics::ReferenceFrame it is expressed in. This allows for runtime checks that frame rules are obeyed and makes it easy to change the frame the metion vector is expressed in. As with a SpatialAcceleration, a SpatialMotion vector is the spatial velocity of a SpatialMotion::bodyFrame relative to a SpatialMotion::baseFrame and is expressed in RobotDynamics::FrameObject::referenceFrame
CSpatialTransform	Compact representation of spatial transformations
CSpatialVector
CTransformableGeometricObject	Essential interface because it forces all geometric objects to implement a method that tells how to transform them. This makes in possible for frame transformations of any TransformableGeometricObject can be done via the FrameObject::changeFrame method
CVector3d
CVector4d
CBody	Describes all properties of a single body
CConstraintSet	Structure that contains both constraint information and workspace memory
CCustomJoint	CustomJoint is a struct used to create a joint with user defined parameters. This is accomplished by overriding the RobotDynamics::Joint::jcalc methods that calculate each joints kinematic parameters
CFixedBody	Keeps the information of a body and how it is attached to another body
CFixedReferenceFrame
CFrameObject	An interface that objects with a ReferenceFrame extend to inherit the FrameObject::changeFrame method
CJoint	Describes a joint relative to the predecessor body
CModel	Contains all information about the rigid body model
CRdlException	A custom exception
CReferenceFrame	ReferenceFrame object used to tell what frame objects are expressed in. Every ReferenceFrame has a pointer to its parent ReferenceFrame. This parent frame is NOT allowed to be nullptr. The ONLY ReferenceFrame that is allowed to have parentFrame=nullptr is the world frame. There is only one world frame and it can be accessed by the static method ReferenceFrame::getWorldFrame() which will return a shared_ptr to the world frame. This class and its implementation are an adaptation of ReferenceFrame.java by Jerry Pratt and the IHMC Robotics Group
CReferenceFrameException	A custom exception for frame operations
CCompositeRigidBodyTestFixture
CCustomEulerZYXJoint
CCustomJointSingleBodyFixture
CCustomJointTypeRevoluteX
CFixedAndMovableJoint	Fixture that contains two models of which one has one joint fixed
CFixedBase3DoF
CFixedBase3DoFPlanar
CFixedBase6DoF
CFixedBase6DoF12DoFFloatingBase
CFixedBase6DoF9DoFFixture
CFixedBaseTwoChain6DoF3D
CFixedJoint2DoF
CFloatingBase12DoF
CFloatingBaseTestFixture
CFloatingBaseWith2SingleDofJoints
CForceVectorTests
CFrameOrientationTest
CFramePointTest
CFrameVectorPairTest
CFrameVectorTest
CHuman36
CJointTestsFixture
CMathFixture
CModelFrameTest
CMomentumTests
CMotionVectorTests
CPoint3	A generic 3D point
CPoint3Test
CQuaternionFixture
CRbdlimInverseDynamicsFixture
CRdlBodyTests
CRdlCalcAccelerationTests
CRdlCalcVelocitiesTests
CRdlCustomEulerZYXJoint
CRdlCustomJointFixture
CRdlCustomJointMultiBodyFixture
CRdlDynamicsFixture
CRdlImpulsesFixture
CRdlKinematicsFixture
CRdlKinematicsSingleChainFixture
CRdlKinematicsSingleChainFixture6DoF
CRdlModelFixture
CRdlModelVelocitiesFixture
CRdlTwoLegModelTests
CRdlUtilsTests
CReferenceFrameTest
CRigidBodyInertiaTests
CRotZRotZYXFixed
CSimpleFixture
CSpatialAccelerationTests
CSpatialAlgebraTests
CSpatialForceTests
CSpatialMomentumTests
CSpatialMotionTests
CSpatialRigidBodyInertiaTests
CSphericalJointFixture
CTwoArms12DoF
CUnitTestUtilsTests