Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 12345]
 CRobotDynamics::BodyDescribes all properties of a single body
 CRobotDynamics::ConstraintSetStructure that contains both constraint information and workspace memory
 ▼CRobotDynamics::CustomJointCustomJoint 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
 CCustomEulerZYXJoint
 CCustomEulerZYXJoint
 CCustomJointTypeRevoluteX
 CCustomJointTypeRevoluteX
 CRdlCustomEulerZYXJoint
 ▼Cexception
 CRobotDynamics::RdlExceptionA custom exception
 CRobotDynamics::ReferenceFrameExceptionA custom exception for frame operations
 CRobotDynamics::FixedBodyKeeps the information of a body and how it is attached to another body
 ▼CRobotDynamics::FrameObjectAn interface that objects with a ReferenceFrame extend to inherit the FrameObject::changeFrame method
 CRobotDynamics::Math::FrameOrientationA Frame object that represents an orientation(quaternion) relative to a reference frame
 CRobotDynamics::Math::FramePointA 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
 CRobotDynamics::Math::FrameVectorA 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
 CRobotDynamics::Math::SpatialForceA SpatialForce is a spatial vector with the angular part being three moments and the linear part being 3 linear forces
 CRobotDynamics::Math::SpatialInertiaA 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
 CRobotDynamics::Math::SpatialMomentumA SpatialMomentum is a Momentum expressed in a RobotDynamics::ReferenceFrame. The angular portion of the vector is referred to as $k$ and the linear portion as $l$
 ►CRobotDynamics::Math::SpatialMotionA 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
 CRobotDynamics::Math::FrameVectorPairA FrameVector is a pair of 3D vector with a ReferenceFrame
 CRobotDynamics::JointDescribes a joint relative to the predecessor body
 ▼CMatrix
 CRobotDynamics::Math::Matrix4d
 CRobotDynamics::Math::SpatialMatrix
 ►CRobotDynamics::Math::SpatialVector
 ▼CMatrix3d
 CRobotDynamics::Math::Matrix3d
 CRobotDynamics::ModelContains all information about the rigid body model
 CPoint3A generic 3D point
 ▼CRobotDynamics::ReferenceFrameReferenceFrame 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
 CRobotDynamics::FixedReferenceFrame
 CRobotDynamics::Math::SpatialTransformCompact representation of spatial transformations
 ▼CTest
 CCompositeRigidBodyTestFixture
 CCustomJointSingleBodyFixture
 CFixedAndMovableJointFixture 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
 CPoint3Test
 CQuaternionFixture
 CRbdlimInverseDynamicsFixture
 CRdlBodyTests
 CRdlCalcAccelerationTests
 CRdlCalcVelocitiesTests
 CRdlCustomJointFixture
 CRdlCustomJointMultiBodyFixture
 CRdlDynamicsFixture
 CRdlImpulsesFixture
 CRdlKinematicsFixture
 CRdlKinematicsSingleChainFixture
 CRdlKinematicsSingleChainFixture6DoF
 CRdlModelFixture
 CRdlModelVelocitiesFixture
 CRdlTwoLegModelTests
 CRdlUtilsTests
 CReferenceFrameTest
 CRigidBodyInertiaTests
 CRotZRotZYXFixed
 CSimpleFixture
 CSpatialAccelerationTests
 CSpatialAlgebraTests
 CSpatialForceTests
 CSpatialMomentumTests
 CSpatialMotionTests
 CSpatialRigidBodyInertiaTests
 CSphericalJointFixture
 CTwoArms12DoF
 CUnitTestUtilsTests
 ▼CRobotDynamics::Math::TransformableGeometricObjectEssential 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
 CRobotDynamics::Math::ForceVectorA ForceVector is a SpatialVector containing 3 moments and 3 linear forces
 CRobotDynamics::Math::MotionVector
 ►CRobotDynamics::Math::Point3d
 ►CRobotDynamics::Math::QuaternionQuaternion that are used for singularity free joints
 ►CRobotDynamics::Math::RigidBodyInertiaThis 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

\[ I_c = \begin{bmatrix} I_xx & I_yx & I_zx \\ I_yx & I_yy & I_zy \\ I_zx & I_zy & I_zz \end{bmatrix} \]

The full RigidBodyInertia matrix has the following structure,

\[ \begin{bmatrix} I_c + (h\times)h & h\times \\ -h\times & \mathbf{1}_{3\times3}m \end{bmatrix} \]

where $ \mathbf{1}_{3\times 3} $ is a 3x3 identity matrix

 ►CRobotDynamics::Math::Vector3d
 ▼CVector3d
 CRobotDynamics::Math::Vector3d
 ▼CVector4d
 ►CRobotDynamics::Math::Vector4d

rdl_dynamics
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autogenerated on Tue Apr 20 2021 02:25:28