rdl_urdfreader: RobotDynamics Namespace Reference

Namespaces
	Math

	Urdf

	Utils

Classes
struct	Body

struct	ConstraintSet

struct	CustomJoint

struct	FixedBody

class	FixedReferenceFrame

class	FrameObject

struct	Joint

struct	Model

class	RdlException

class	ReferenceFrame

class	ReferenceFrameException

Typedefs
typedef std::shared_ptr< FixedReferenceFrame >	FixedReferenceFramePtr

typedef std::vector< FixedReferenceFramePtr >	FixedReferenceFramePtrV

typedef std::shared_ptr< Model >	ModelPtr

typedef std::shared_ptr< ReferenceFrame >	ReferenceFramePtr

typedef std::vector< ReferenceFramePtr >	ReferenceFramePtrV

Enumerations
enum	JointType

Functions
void	calcBodyGravityWrench (Model &model, unsigned int body_id, RobotDynamics::Math::SpatialForce &gravity_wrench)

void	calcBodySpatialJacobian (Model &model, const Math::VectorNd &Q, unsigned int body_id, Math::MatrixNd &G, bool update_kinematics=true)

void	calcBodySpatialJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd QDot, unsigned int body_id, Math::MatrixNd &G, const bool update_kinematics=true)

void	calcContactJacobian (Model &model, const Math::VectorNd &Q, const ConstraintSet &CS, Math::MatrixNd &G, bool update_kinematics=true)

void	calcContactSystemVariables (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS)

void	calcMInvTimesTau (Model &model, const Math::VectorNd &Q, const Math::VectorNd &Tau, Math::VectorNd &QDDot, bool update_kinematics=true)

Math::FrameVector	calcPointAcceleration (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)

Math::FrameVectorPair	calcPointAcceleration6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)

Math::FrameVectorPair	calcPointAcceleration6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)

void	calcPointJacobian (Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)

void	calcPointJacobian (Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr frame, bool update_kinematics=true)

void	calcPointJacobian6D (Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr frame, bool update_kinematics=true)

void	calcPointJacobian6D (Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)

void	calcPointJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)

void	calcPointJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &G, bool update_kinematics=true)

void	calcPointJacobianDot6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &G, bool update_kinematics=true)

void	calcPointJacobianDot6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)

Math::FrameVector	calcPointVelocity (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)

Math::FrameVectorPair	calcPointVelocity6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)

Math::FrameVectorPair	calcPointVelocity6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, bool update_kinematics=true)

Math::FrameVectorPair	calcPointVelocity6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr baseFrame, RobotDynamics::ReferenceFramePtr relativeFrame, RobotDynamics::ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)

void	calcRelativeBodySpatialJacobian (Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)

void	calcRelativeBodySpatialJacobianAndJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, Math::MatrixNd &GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)

void	calcRelativeBodySpatialJacobianDot (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)

void	calcRelativePointJacobian6D (Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)

void	calcRelativePointJacobianAndJacobianDot6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, Math::MatrixNd &GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)

void	calcRelativePointJacobianDot6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)

Math::SpatialAcceleration	calcSpatialAcceleration (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)

Math::SpatialAcceleration	calcSpatialAcceleration (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)

Math::SpatialMotion	calcSpatialVelocity (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)

Math::SpatialMotion	calcSpatialVelocity (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)

void	compositeRigidBodyAlgorithm (Model &model, const Math::VectorNd &Q, Math::MatrixNd &H, bool update_kinematics=true)

void	computeContactImpulsesDirect (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)

void	computeContactImpulsesNullSpace (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)

void	computeContactImpulsesRangeSpaceSparse (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)

void	coriolisEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)

void	forwardDynamics (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, Math::VectorNd &QDDot, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)

void	forwardDynamicsAccelerationDeltas (Model &model, ConstraintSet &CS, VectorNd &QDDot_t, const unsigned int body_id, const SpatialForceV &f_t)

void	forwardDynamicsApplyConstraintForces (Model &model, const VectorNd &Tau, ConstraintSet &CS, VectorNd &QDDot)

void	forwardDynamicsContactsDirect (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)

void	forwardDynamicsContactsKokkevis (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)

void	forwardDynamicsContactsNullSpace (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)

void	forwardDynamicsContactsRangeSpaceSparse (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)

void	forwardDynamicsLagrangian (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, Math::VectorNd &QDDot, Math::MatrixNd &H, Math::VectorNd &C, Math::LinearSolver linear_solver=Math::LinearSolverColPivHouseholderQR, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)

void	gravityEffects (Model &model, Math::VectorNd &Tau)

void	inverseDynamics (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, Math::VectorNd &Tau, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)

bool	inverseKinematics (Model &model, const VectorNd &Qinit, const std::vector< unsigned int > &body_id, const std::vector< Vector3d > &body_point, const std::vector< Vector3d > &target_pos, VectorNd &Qres, double step_tol, double lambda, unsigned int max_iter)

bool	inverseKinematics (Model &model, const Math::VectorNd &Qinit, const std::vector< unsigned int > &body_id, const std::vector< Math::Vector3d > &body_point, const std::vector< Math::Vector3d > &target_pos, Math::VectorNd &Qres, double step_tol=1.0e-12, double lambda=0.01, unsigned int max_iter=50)

void	jcalc (Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)

void	jcalc_X_lambda_S (Model &model, unsigned int joint_id, const Math::VectorNd &q)

Math::SpatialTransform	jcalc_XJ (Model &model, unsigned int joint_id, const Math::VectorNd &q)

void	nonlinearEffects (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)

void	set_zero (std::vector< SpatialVector > &spatial_values)

void	solveContactSystemDirect (Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &A, Math::VectorNd &b, Math::VectorNd &x, Math::LinearSolver &linear_solver)

void	solveContactSystemNullSpace (Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &Y, Math::MatrixNd &Z, Math::VectorNd &qddot_y, Math::VectorNd &qddot_z, Math::LinearSolver &linear_solver)

void	solveContactSystemRangeSpaceSparse (Model &model, Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &K, Math::VectorNd &a, Math::LinearSolver linear_solver)

void	updateAccelerations (Model &model, const Math::VectorNd &QDDot)

void	updateKinematics (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot)

void	updateKinematicsCustom (Model &model, const Math::VectorNd Q, const Math::VectorNd QDot=nullptr, const Math::VectorNd *QDDot=nullptr)

void	updateKinematicsCustomParallel (Model &model, const Math::VectorNd Q, const Math::VectorNd QDot=nullptr, const Math::VectorNd *QDDot=nullptr)

void	updateKinematicsParallel (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot)

Variables
	JointType1DoF

	JointType2DoF

	JointType3DoF

	JointType4DoF

	JointType5DoF

	JointType6DoF

	JointTypeCustom

	JointTypeEulerXYZ

	JointTypeEulerYXZ

	JointTypeEulerZYX

	JointTypeFixed

	JointTypeFloatingBase

	JointTypePrismatic

	JointTypeRevolute

	JointTypeRevoluteX

	JointTypeRevoluteY

	JointTypeRevoluteZ

	JointTypeSpherical

	JointTypeTranslationXYZ

	JointTypeUndefined

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables