kinematics_dynamics.cpp
/tmp/ws/src/thormang3_mpc/thormang3_kinematics_dynamics/src/
kinematics__dynamics_8cpp
thormang3_kinematics_dynamics/kinematics_dynamics.h
thormang3
kinematics_dynamics.h
/tmp/ws/src/thormang3_mpc/thormang3_kinematics_dynamics/include/thormang3_kinematics_dynamics/
kinematics__dynamics_8h
kinematics_dynamics_define.h
link_data.h
thormang3::KinematicsDynamics
thormang3
#define
EIGEN_NO_DEBUG
kinematics__dynamics_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
kinematics__dynamics_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
TreeSelect
namespacethormang3.html
adf90281e659e7afee6258fbf8c1e64f1
Manipulation
namespacethormang3.html
adf90281e659e7afee6258fbf8c1e64f1a2f0ea8ca0624c2498944940dd540e04c
Walking
namespacethormang3.html
adf90281e659e7afee6258fbf8c1e64f1a3964adc1474a2ce0f0e5a5e0f0b97706
WholeBody
namespacethormang3.html
adf90281e659e7afee6258fbf8c1e64f1aa75b2090dd64102d40986ff44cc6699c
kinematics_dynamics_define.h
/tmp/ws/src/thormang3_mpc/thormang3_kinematics_dynamics/include/thormang3_kinematics_dynamics/
kinematics__dynamics__define_8h
thormang3
#define
ALL_JOINT_ID
kinematics__dynamics__define_8h.html
ab65f639c98747b0f63ef31e2dd9b4774
#define
GRAVITY_ACCELERATION
kinematics__dynamics__define_8h.html
a7ef3e798b79749d399b4baf2df8e13dc
#define
ID_BASE
kinematics__dynamics__define_8h.html
ae8b723a166af853e24a63d5da6b53431
#define
ID_COB
kinematics__dynamics__define_8h.html
a98a928d33a36435d3018a0d982bc3c3c
#define
ID_HEAD_END
kinematics__dynamics__define_8h.html
aea7777319fd6cf214161d6ebdaec1cc9
#define
ID_L_ARM_END
kinematics__dynamics__define_8h.html
aa7cee3392c97fdd42e77b0f8fd093283
#define
ID_L_ARM_START
kinematics__dynamics__define_8h.html
ae8acab21aee67f7dd3936515f7a5f9cb
#define
ID_L_LEG_END
kinematics__dynamics__define_8h.html
a9fef60ee4b9a9b4f21ef75d5953b6d71
#define
ID_L_LEG_FT
kinematics__dynamics__define_8h.html
a12435f69d22259523d485cfa90928888
#define
ID_L_LEG_START
kinematics__dynamics__define_8h.html
a936993703da8867070f7d2a06ae3a0eb
#define
ID_PELVIS
kinematics__dynamics__define_8h.html
a12ef82fb89f95170abd219301bacf52a
#define
ID_PELVIS_POS_X
kinematics__dynamics__define_8h.html
a392b5a1ccbcc582afe9a3f17db94d6b0
#define
ID_PELVIS_POS_Y
kinematics__dynamics__define_8h.html
aca4c2aa8ff6398a9ae80c7d65bd89329
#define
ID_PELVIS_POS_Z
kinematics__dynamics__define_8h.html
afc6916270a804b8908c3b3e791ab1277
#define
ID_PELVIS_ROT_X
kinematics__dynamics__define_8h.html
adb8cc0f168f96c4b113d360cbdc1f504
#define
ID_PELVIS_ROT_Y
kinematics__dynamics__define_8h.html
acb5e7b00be0cb8fce3a856557c44efeb
#define
ID_PELVIS_ROT_Z
kinematics__dynamics__define_8h.html
a80d8698cbea35865d072f4b2415d0081
#define
ID_R_ARM_END
kinematics__dynamics__define_8h.html
a5d3c0900e66dc262638524d23347dcd3
#define
ID_R_ARM_START
kinematics__dynamics__define_8h.html
a519a22400ab13805504bfa52fe10daf7
#define
ID_R_LEG_END
kinematics__dynamics__define_8h.html
af204f0568f0496371de36a79ed4b9524
#define
ID_R_LEG_FT
kinematics__dynamics__define_8h.html
aaf0bf58e2480e89fec3541e655dd6c1c
#define
ID_R_LEG_START
kinematics__dynamics__define_8h.html
a61f9415bbde4d589c8f415699d897ca5
#define
ID_TORSO
kinematics__dynamics__define_8h.html
a97df20d87659207fdb89b238694fd849
#define
MAX_ARM_ID
kinematics__dynamics__define_8h.html
a400736d6737fae0cc8d4f766315e3a42
#define
MAX_ITER
kinematics__dynamics__define_8h.html
acd517c6f195c75b9dd0f3aad65326f3b
#define
MAX_JOINT_ID
kinematics__dynamics__define_8h.html
ae321eb01c9f2bed9be2c7ed47f11cb04
#define
MAX_LEG_ID
kinematics__dynamics__define_8h.html
a818b2de789f45c979184b86872adbe77
link_data.cpp
/tmp/ws/src/thormang3_mpc/thormang3_kinematics_dynamics/src/
link__data_8cpp
thormang3_kinematics_dynamics/link_data.h
thormang3
link_data.h
/tmp/ws/src/thormang3_mpc/thormang3_kinematics_dynamics/include/thormang3_kinematics_dynamics/
link__data_8h
thormang3::LinkData
thormang3
#define
EIGEN_NO_DEBUG
link__data_8h.html
a844958ed8129c1ab4a975683f62900db
#define
EIGEN_NO_STATIC_ASSERT
link__data_8h.html
ad5d416dff2838a4b9cd98abe204f67f8
thormang3::KinematicsDynamics
classthormang3_1_1KinematicsDynamics.html
Eigen::MatrixXd
calcCenterOfMass
classthormang3_1_1KinematicsDynamics.html
a3f21428f378c87e6d193c6ddfef4079d
(Eigen::MatrixXd mc)
void
calcForwardKinematics
classthormang3_1_1KinematicsDynamics.html
aece9d43666758ab090a78048c2bb8900
(int joint_ID)
bool
calcInverseKinematics
classthormang3_1_1KinematicsDynamics.html
a0aa623c5e6a13ecf1269dd026e2e4ff6
(int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err)
bool
calcInverseKinematics
classthormang3_1_1KinematicsDynamics.html
a1b7f90f7c5202c83b7b0d6f09040f173
(int from, int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err)
bool
calcInverseKinematics
classthormang3_1_1KinematicsDynamics.html
a4676edbcec2ceb82c4746713385e9f9f
(int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err, Eigen::MatrixXd weight)
bool
calcInverseKinematics
classthormang3_1_1KinematicsDynamics.html
a8c4cef42b880ae551d88dcce9c05821a
(int from, int to, Eigen::MatrixXd tar_position, Eigen::MatrixXd tar_orientation, int max_iter, double ik_err, Eigen::MatrixXd weight)
bool
calcInverseKinematicsForLeftLeg
classthormang3_1_1KinematicsDynamics.html
ad4ea5d1755fe13295704e9443dc7b98f
(double *out, double x, double y, double z, double roll, double pitch, double yaw)
bool
calcInverseKinematicsForLeg
classthormang3_1_1KinematicsDynamics.html
ae84505a94f091863a09e3c371aa676c0
(double *out, double x, double y, double z, double roll, double pitch, double yaw)
bool
calcInverseKinematicsForRightLeg
classthormang3_1_1KinematicsDynamics.html
a7a1b37c7cbef4afcb8b4628a215c62c2
(double *out, double x, double y, double z, double roll, double pitch, double yaw)
Eigen::MatrixXd
calcJacobian
classthormang3_1_1KinematicsDynamics.html
a902a71ab530c70669413be906ca811a8
(std::vector< int > idx)
Eigen::MatrixXd
calcJacobianCOM
classthormang3_1_1KinematicsDynamics.html
a7ab1ecc32595a7b1be46c75da49bbc9a
(std::vector< int > idx)
void
calcJointsCenterOfMass
classthormang3_1_1KinematicsDynamics.html
a80c09c672c639288e72393cc4991896c
(int joint_id)
Eigen::MatrixXd
calcMassCenter
classthormang3_1_1KinematicsDynamics.html
a28291ae7ca45922db8076f6b5f8b1252
(int joint_id)
double
calcTotalMass
classthormang3_1_1KinematicsDynamics.html
a2d471c6631dc99294832db151fbf90bf
(int joint_id)
Eigen::MatrixXd
calcVWerr
classthormang3_1_1KinematicsDynamics.html
ae555d8c516dabc0c28f9c0bbe7bc12f2
(Eigen::MatrixXd tar_position, Eigen::MatrixXd curr_position, Eigen::MatrixXd tar_orientation, Eigen::MatrixXd curr_orientation)
std::vector< int >
findRoute
classthormang3_1_1KinematicsDynamics.html
a9f99009fe7a98e7afec8080a243b6635
(int to)
std::vector< int >
findRoute
classthormang3_1_1KinematicsDynamics.html
afe61146207e999debe3ed540e455e2ef
(int from, int to)
KinematicsDynamics
classthormang3_1_1KinematicsDynamics.html
a1067f4d683546ba3a3f6bd2d10c5e646
()
KinematicsDynamics
classthormang3_1_1KinematicsDynamics.html
a9a64ed387a635850255ce8778b2f0cf9
(TreeSelect tree)
~KinematicsDynamics
classthormang3_1_1KinematicsDynamics.html
a1dde00734623f9f4fa9895a310a80d29
()
double
ankle_length_m_
classthormang3_1_1KinematicsDynamics.html
a872dd8890a856afcc3b2ee660109ef48
double
calf_length_m_
classthormang3_1_1KinematicsDynamics.html
a4cabae094b31ef42216680ba2d1b42ce
double
leg_side_offset_m_
classthormang3_1_1KinematicsDynamics.html
a25440991f16fa4df3f17e40572b4992b
double
thigh_length_m_
classthormang3_1_1KinematicsDynamics.html
a0434e2c8c59838d644a7839a8013d1cd
LinkData *
thormang3_link_data_
classthormang3_1_1KinematicsDynamics.html
a3c40fc8231df5b85bb5ac6db7bf85e9d
[ALL_JOINT_ID+1]
thormang3::LinkData
classthormang3_1_1LinkData.html
LinkData
classthormang3_1_1LinkData.html
adccb181399955e37f9b477e135df1037
()
~LinkData
classthormang3_1_1LinkData.html
a575c9c7f219afbab6a67409edff79665
()
Eigen::MatrixXd
center_of_mass_
classthormang3_1_1LinkData.html
a765c11b565bbf60994c80147ec409970
int
child_
classthormang3_1_1LinkData.html
aaa897fc0b417aec5b6be673ebc024220
Eigen::MatrixXd
inertia_
classthormang3_1_1LinkData.html
a4d0d696da878f68a22304f97738de443
double
joint_acceleration_
classthormang3_1_1LinkData.html
a375b0321e5b88373a169b507aa3bf9f2
double
joint_angle_
classthormang3_1_1LinkData.html
af67ad59e09aded7b8d95c4caf334b4ca
Eigen::MatrixXd
joint_axis_
classthormang3_1_1LinkData.html
af2f0d811524dcfa269dc9bf0e7dddc6e
Eigen::MatrixXd
joint_center_of_mass_
classthormang3_1_1LinkData.html
afde96a50fd9ec39f42ea3419c9ba7e8f
double
joint_limit_max_
classthormang3_1_1LinkData.html
a801fbb097634944236feb3690ea21f51
double
joint_limit_min_
classthormang3_1_1LinkData.html
a8af6bc6009f8efd4dd1d548440b533f7
double
joint_velocity_
classthormang3_1_1LinkData.html
aa9a43df6e7831c420251ea863535ed93
double
mass_
classthormang3_1_1LinkData.html
a9e6b008c8a5d6e9c5f836f4ed8a9e0bf
std::string
name_
classthormang3_1_1LinkData.html
a5a5fe4169a5fe4708b93fa2931584986
Eigen::MatrixXd
orientation_
classthormang3_1_1LinkData.html
a554f6594599a0bec6f7080a0b513207b
int
parent_
classthormang3_1_1LinkData.html
a29c6d052091ac4796073fa8f83f5da4a
Eigen::MatrixXd
position_
classthormang3_1_1LinkData.html
aa5a3b1479649ff658e9985c3d6db5746
Eigen::MatrixXd
relative_position_
classthormang3_1_1LinkData.html
a5ac8385d3a5f3a3bb9a4dbd1389894d2
int
sibling_
classthormang3_1_1LinkData.html
ade29c519d15125df00bb5c66fa0b76ef
Eigen::MatrixXd
transformation_
classthormang3_1_1LinkData.html
a2919864148e5f9d776ef329131fdb88b
thormang3
namespacethormang3.html
thormang3::KinematicsDynamics
thormang3::LinkData
TreeSelect
namespacethormang3.html
adf90281e659e7afee6258fbf8c1e64f1
Manipulation
namespacethormang3.html
adf90281e659e7afee6258fbf8c1e64f1a2f0ea8ca0624c2498944940dd540e04c
Walking
namespacethormang3.html
adf90281e659e7afee6258fbf8c1e64f1a3964adc1474a2ce0f0e5a5e0f0b97706
WholeBody
namespacethormang3.html
adf90281e659e7afee6258fbf8c1e64f1aa75b2090dd64102d40986ff44cc6699c