#include <cmath>#include <limits>#include <iostream>#include <assert.h>#include "rdl_dynamics/rdl_mathutils.h"#include <rdl_dynamics/Model.h>
Include dependency graph for rdl_mathutils.cc:
Go to the source code of this file.
Namespaces | |
| RobotDynamics | |
| Namespace for all structures of the RobotDynamics library. | |
| RobotDynamics::Math | |
| Math types such as vectors and matrices and utility functions. | |
Functions | |
| bool | RobotDynamics::Math::linSolveGaussElimPivot (MatrixNd A, VectorNd b, VectorNd &x) |
| Solves a linear system using gaussian elimination with pivoting. More... | |
| Matrix3d | RobotDynamics::Math::Matrix3dIdentity (1., 0., 0., 0., 1., 0., 0., 0., 1) |
| Matrix3d | RobotDynamics::Math::Matrix3dZero (0., 0., 0., 0., 0., 0., 0., 0., 0.) |
| Matrix3d | RobotDynamics::Math::parallel_axis (const Matrix3d &inertia, double mass, const Vector3d &com) |
| Translates the inertia matrix to a new center. More... | |
| Quaternion | RobotDynamics::Math::QuaternionIdentity (0., 0., 0., 1) |
| void | RobotDynamics::Math::SparseFactorizeLTL (Model &model, Math::MatrixNd &H) |
| void | RobotDynamics::Math::SparseMultiplyHx (Model &model, Math::MatrixNd &L) |
| void | RobotDynamics::Math::SparseMultiplyLTx (Model &model, Math::MatrixNd &L) |
| void | RobotDynamics::Math::SparseMultiplyLx (Model &model, Math::MatrixNd &L) |
| void | RobotDynamics::Math::SparseSolveLTx (Model &model, Math::MatrixNd &L, Math::VectorNd &x) |
| void | RobotDynamics::Math::SparseSolveLx (Model &model, Math::MatrixNd &L, Math::VectorNd &x) |
| SpatialMatrix | RobotDynamics::Math::SpatialMatrixIdentity (1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1., 0., 0., 0., 0., 0., 0., 1.) |
| SpatialMatrix | RobotDynamics::Math::SpatialMatrixZero (0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.) |
| SpatialVector | RobotDynamics::Math::SpatialVectorZero (0., 0., 0., 0., 0., 0.) |
| Vector3d | RobotDynamics::Math::Vector3dZero (0., 0., 0.) |
| SpatialMatrix | RobotDynamics::Math::Xrotx_mat (const double &xrot) |
| Creates a rotational transformation around the X-axis. More... | |
| SpatialMatrix | RobotDynamics::Math::Xroty_mat (const double &yrot) |
| Creates a rotational transformation around the Y-axis. More... | |
| SpatialMatrix | RobotDynamics::Math::Xrotz_mat (const double &zrot) |
| Creates a rotational transformation around the Z-axis. More... | |
| SpatialMatrix | RobotDynamics::Math::Xtrans_mat (const Vector3d &displacement) |
| Creates a transformation of a linear displacement. More... | |
| SpatialMatrix | RobotDynamics::Math::XtransRotZYXEuler (const Vector3d &displacement, const Vector3d &zyx_euler) |
| Creates a spatial transformation for given parameters. More... | |