#include <assert.h>#include <cmath>#include "rdl_dynamics/rdl_eigenmath.h"#include "rdl_dynamics/Quaternion.h"
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Namespaces | |
| RobotDynamics | |
| Namespace for all structures of the RobotDynamics library. | |
| RobotDynamics::Math | |
| Math types such as vectors and matrices and utility functions. | |
Enumerations | |
| enum | RobotDynamics::Math::LinearSolver { RobotDynamics::Math::LinearSolverUnknown = 0, RobotDynamics::Math::LinearSolverPartialPivLU, RobotDynamics::Math::LinearSolverColPivHouseholderQR, RobotDynamics::Math::LinearSolverHouseholderQR, RobotDynamics::Math::LinearSolverLLT, RobotDynamics::Math::LinearSolverLast } |
| Available solver methods for the linear systems. More... | |
Functions | |
| Vector3d | RobotDynamics::Math::angular_acceleration_from_angle_rates (const Vector3d &zyx_angles, const Vector3d &zyx_angle_rates, const Vector3d &zyx_angle_rates_dot) |
| Vector3d | RobotDynamics::Math::angular_velocity_from_angle_rates (const Vector3d &zyx_angles, const Vector3d &zyx_angle_rates) |
| Vector3d | RobotDynamics::Math::global_angular_velocity_from_rates (const Vector3d &zyx_angles, const Vector3d &zyx_rates) |
| bool | RobotDynamics::Math::linSolveGaussElimPivot (MatrixNd A, VectorNd b, VectorNd &x) |
| Solves a linear system using gaussian elimination with pivoting. More... | |
| MatrixNd | RobotDynamics::Math::matrixFromPtr (unsigned int rows, unsigned int cols, double *ptr, bool row_major=true) |
| Matrix3d | RobotDynamics::Math::parallel_axis (const Matrix3d &inertia, double mass, const Vector3d &com) |
| Translates the inertia matrix to a new center. More... | |
| Matrix3d | RobotDynamics::Math::rotx (const double &xrot) |
| Matrix3d | RobotDynamics::Math::rotxdot (const double &x, const double &xdot) |
| Matrix3d | RobotDynamics::Math::roty (const double &yrot) |
| Matrix3d | RobotDynamics::Math::rotydot (const double &y, const double &ydot) |
| Matrix3d | RobotDynamics::Math::rotz (const double &zrot) |
| Matrix3d | RobotDynamics::Math::rotzdot (const double &z, const double &zdot) |
| 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) |
| VectorNd | RobotDynamics::Math::vectorFromPtr (unsigned int n, double *ptr) |
| 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... | |
Variables | |
| Matrix3d | RobotDynamics::Math::Matrix3dIdentity |
| Matrix3d | RobotDynamics::Math::Matrix3dZero |
| Quaternion | RobotDynamics::Math::QuaternionIdentity |
| SpatialMatrix | RobotDynamics::Math::SpatialMatrixIdentity |
| SpatialMatrix | RobotDynamics::Math::SpatialMatrixZero |
| SpatialVector | RobotDynamics::Math::SpatialVectorZero |
| Vector3d | RobotDynamics::Math::Vector3dZero |