#include <DyBody.h>

Inheritance diagram for cnoid::DyLink:

Classes
struct	ConstraintForce

Public Types
typedef std::vector< ConstraintForce >	ConstraintForceArray

Public Types inherited from cnoid::Link
enum	JointType { REVOLUTE_JOINT = 0, ROTATIONAL_JOINT = REVOLUTE_JOINT, SLIDE_JOINT = 1, FREE_JOINT = 2, FIXED_JOINT = 3, PSEUDO_CONTINUOUS_TRACK = 4, CRAWLER_JOINT = 5, AGX_CRAWLER_JOINT = 6 }

Public Member Functions
	DyLink ()

	DyLink (const Link &link)

DyLink *	parent () const

DyLink *	sibling () const

DyLink *	child () const

const Vector3 &	vo () const

Vector3 &	vo ()

const Vector3 &	dvo () const

Vector3 &	dvo ()

const Vector3 &	sw () const

Vector3 &	sw ()

const Vector3 &	sv () const

Vector3 &	sv ()

const Vector3 &	cv () const

Vector3 &	cv ()

const Vector3 &	cw () const

Vector3 &	cw ()

const Matrix3 &	Iww () const

Matrix3 &	Iww ()

const Matrix3 &	Iwv () const

Matrix3 &	Iwv ()

const Matrix3 &	Ivv () const

Matrix3 &	Ivv ()

const Vector3 &	pf () const

Vector3 &	pf ()

const Vector3 &	ptau () const

Vector3 &	ptau ()

const Vector3 &	hhv () const

Vector3 &	hhv ()

const Vector3 &	hhw () const

Vector3 &	hhw ()

double	uu () const

double &	uu ()

double	dd () const

double &	dd ()

ConstraintForceArray &	constraintForces ()

const ConstraintForceArray &	constraintForces () const

virtual void	prependChild (Link *link)

virtual void	appendChild (Link *link)

Public Member Functions inherited from cnoid::Link
	Link ()

	Link (const Link &link)

virtual	~Link ()

int	index () const

bool	isValid () const

Link *	parent () const

Link *	sibling () const

Link *	child () const

bool	isRoot () const

Body *	body ()

const Body *	body () const

Position &	T ()

const Position &	T () const

Position &	position ()

const Position &	position () const

template<class Scalar , int Mode, int Options>
void	setPosition (const Eigen::Transform< Scalar, 3, Mode, Options > &T)

template<typename Derived1 , typename Derived2 >
void	setPosition (const Eigen::MatrixBase< Derived1 > &rotation, const Eigen::MatrixBase< Derived2 > &translation)

Position::TranslationPart	p ()

Position::ConstTranslationPart	p () const

Position::TranslationPart	translation ()

Position::ConstTranslationPart	translation () const

template<typename Derived >
void	setTranslation (const Eigen::MatrixBase< Derived > &p)

Position::LinearPart	R ()

Position::ConstLinearPart	R () const

Position::LinearPart	rotation ()

Position::ConstLinearPart	rotation () const

template<typename Derived >
void	setRotation (const Eigen::MatrixBase< Derived > &R)

template<typename T >
void	setRotation (const Eigen::AngleAxis< T > &a)

Position &	Tb ()

const Position &	Tb () const

Position::ConstTranslationPart	b () const

Position::ConstTranslationPart	offsetTranslation () const

Position::ConstLinearPart	Rb () const

Position::ConstLinearPart	offsetRotation () const

Matrix3 &	Rs ()

const Matrix3 &	Rs () const

int	jointId () const

JointType	jointType () const

bool	isFixedJoint () const

bool	isFreeJoint () const

bool	isRotationalJoint () const

bool	isSlideJoint () const

std::string	jointTypeString () const

const Vector3 &	a () const

const Vector3 &	jointAxis () const

const Vector3 &	d () const

double	q () const

double &	q ()

double	dq () const

double &	dq ()

double	ddq () const

double &	ddq ()

double	u () const

double &	u ()

double	q_upper () const
	the upper limit of joint values More...

double	q_lower () const
	the lower limit of joint values More...

double	dq_upper () const
	the upper limit of joint velocities More...

double	dq_lower () const
	the upper limit of joint velocities More...

const Vector3 &	v () const

Vector3 &	v ()

const Vector3 &	w () const

Vector3 &	w ()

const Vector3 &	dv () const

Vector3 &	dv ()

const Vector3 &	dw () const

Vector3 &	dw ()

const Vector3 &	c () const
	center of mass (self local) More...

const Vector3 &	centerOfMass () const

const Vector3 &	wc () const
	center of mass (world coordinate) More...

const Vector3 &	centerOfMassGlobal () const

Vector3 &	wc ()

double	m () const
	mass More...

double	mass () const
	inertia tensor (self local, around c) More...

const Matrix3 &	I () const

double	Jm2 () const
	Equivalent rotor inertia: n^2*Jm [kg.m^2]. More...

const Vector6 &	F_ext () const

Vector6 &	F_ext ()

Vector6::ConstFixedSegmentReturnType< 3 >::Type	f_ext () const

Vector6::FixedSegmentReturnType< 3 >::Type	f_ext ()

Vector6::ConstFixedSegmentReturnType< 3 >::Type	tau_ext () const

Vector6::FixedSegmentReturnType< 3 >::Type	tau_ext ()

const std::string &	name () const

SgNode *	shape () const

SgNode *	visualShape () const

SgNode *	collisionShape () const

void	setIndex (int index)

bool	removeChild (Link *link)

void	setOffsetPosition (const Position &T)

template<typename Derived >
void	setOffsetTranslation (const Eigen::MatrixBase< Derived > &offset)

template<typename Derived >
void	setOffsetRotation (const Eigen::MatrixBase< Derived > &offset)

template<typename T >
void	setOffsetRotation (const Eigen::AngleAxis< T > &a)

template<typename Derived >
void	setAccumulatedSegmentRotation (const Eigen::MatrixBase< Derived > &Rs)

void	setJointType (JointType type)

void	setJointId (int id)

void	setJointAxis (const Vector3 &axis)

void	setJointRange (double lower, double upper)

void	setJointVelocityRange (double lower, double upper)

void	setCenterOfMass (const Vector3 &c)

void	setMass (double m)

void	setInertia (const Matrix3 &I)

void	setEquivalentRotorInertia (double Jm2)

void	setName (const std::string &name)

void	setShape (SgNode *shape)

void	setVisualShape (SgNode *shape)

void	setCollisionShape (SgNode *shape)

Matrix3	attitude () const

void	setAttitude (const Matrix3 &Ra)

Matrix3	calcRfromAttitude (const Matrix3 &Ra)

const Mapping *	info () const

Mapping *	info ()

template<typename T >
T	info (const std::string &key) const

template<typename T >
T	info (const std::string &key, const T &defaultValue) const

template<typename T >
void	setInfo (const std::string &key, const T &value)

void	resetInfo (Mapping *info)

double	initialJointDisplacement () const

double &	initialJointDisplacement ()

template<>
double	info (const std::string &key) const

template<>
double	info (const std::string &key, const double &defaultValue) const

template<>
void	setInfo (const std::string &key, const double &value)

template<>
CNOID_EXPORT double	info (const std::string &key) const

template<>
CNOID_EXPORT double	info (const std::string &key, const double &defaultValue) const

template<>
CNOID_EXPORT void	setInfo (const std::string &key, const double &value)

Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

void	addRef ()

void	releaseRef ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Public Attributes inherited from cnoid::Link
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Additional Inherited Members
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()

	Referenced (const Referenced &org)

int	refCount () const

Detailed Description

A Link class used for forward dynamics based on the articulated body method (ABM)

Member Typedef Documentation

§ ConstraintForceArray

typedef std::vector<ConstraintForce> cnoid::DyLink::ConstraintForceArray

Constructor & Destructor Documentation

§ DyLink() [1/2]

DyLink::DyLink ( )

§ DyLink() [2/2]

DyLink::DyLink ( const Link & link )

Member Function Documentation

§ appendChild()

void DyLink::appendChild ( Link * link )

virtual

Reimplemented from cnoid::Link.

§ child()

DyLink* cnoid::DyLink::child ( ) const

inline

§ constraintForces() [1/2]

ConstraintForceArray& cnoid::DyLink::constraintForces ( )

inline

§ constraintForces() [2/2]

const ConstraintForceArray& cnoid::DyLink::constraintForces ( ) const

inline

§ cv() [1/2]

const Vector3& cnoid::DyLink::cv ( ) const

inline

§ cv() [2/2]

Vector3& cnoid::DyLink::cv ( )

inline

§ cw() [1/2]

const Vector3& cnoid::DyLink::cw ( ) const

inline

§ cw() [2/2]

Vector3& cnoid::DyLink::cw ( )

inline

§ dd() [1/2]

double cnoid::DyLink::dd ( ) const

inline

§ dd() [2/2]

double& cnoid::DyLink::dd ( )

inline

§ dvo() [1/2]

const Vector3& cnoid::DyLink::dvo ( ) const

inline

§ dvo() [2/2]

Vector3& cnoid::DyLink::dvo ( )

inline

§ hhv() [1/2]

const Vector3& cnoid::DyLink::hhv ( ) const

inline

§ hhv() [2/2]

Vector3& cnoid::DyLink::hhv ( )

inline

§ hhw() [1/2]

const Vector3& cnoid::DyLink::hhw ( ) const

inline

§ hhw() [2/2]

Vector3& cnoid::DyLink::hhw ( )

inline

§ Ivv() [1/2]

const Matrix3& cnoid::DyLink::Ivv ( ) const

inline

§ Ivv() [2/2]

Matrix3& cnoid::DyLink::Ivv ( )

inline

§ Iwv() [1/2]

const Matrix3& cnoid::DyLink::Iwv ( ) const

inline

§ Iwv() [2/2]

Matrix3& cnoid::DyLink::Iwv ( )

inline

§ Iww() [1/2]

const Matrix3& cnoid::DyLink::Iww ( ) const

inline

§ Iww() [2/2]

Matrix3& cnoid::DyLink::Iww ( )

inline

§ parent()

DyLink* cnoid::DyLink::parent ( ) const

inline

§ pf() [1/2]

const Vector3& cnoid::DyLink::pf ( ) const

inline

§ pf() [2/2]

Vector3& cnoid::DyLink::pf ( )

inline

§ prependChild()

void DyLink::prependChild ( Link * link )

virtual

Reimplemented from cnoid::Link.

§ ptau() [1/2]

const Vector3& cnoid::DyLink::ptau ( ) const

inline

§ ptau() [2/2]

Vector3& cnoid::DyLink::ptau ( )

inline

§ sibling()

DyLink* cnoid::DyLink::sibling ( ) const

inline

§ sv() [1/2]

const Vector3& cnoid::DyLink::sv ( ) const

inline

§ sv() [2/2]

Vector3& cnoid::DyLink::sv ( )

inline

§ sw() [1/2]

const Vector3& cnoid::DyLink::sw ( ) const

inline

§ sw() [2/2]

Vector3& cnoid::DyLink::sw ( )

inline

§ uu() [1/2]

double cnoid::DyLink::uu ( ) const

inline

§ uu() [2/2]

double& cnoid::DyLink::uu ( )

inline

§ vo() [1/2]

const Vector3& cnoid::DyLink::vo ( ) const

inline

§ vo() [2/2]

Vector3& cnoid::DyLink::vo ( )

inline

Member Data Documentation

§ EIGEN_MAKE_ALIGNED_OPERATOR_NEW

cnoid::DyLink::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

The documentation for this class was generated from the following files:

Classes

Public Types

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

§ ConstraintForceArray

Constructor & Destructor Documentation

§ DyLink() [1/2]

§ DyLink() [2/2]

Member Function Documentation

§ appendChild()

§ child()

§ constraintForces() [1/2]

§ constraintForces() [2/2]

§ cv() [1/2]

§ cv() [2/2]

§ cw() [1/2]

§ cw() [2/2]

§ dd() [1/2]

§ dd() [2/2]

§ dvo() [1/2]

§ dvo() [2/2]

§ hhv() [1/2]

§ hhv() [2/2]

§ hhw() [1/2]

§ hhw() [2/2]

§ Ivv() [1/2]

§ Ivv() [2/2]

§ Iwv() [1/2]

§ Iwv() [2/2]

§ Iww() [1/2]

§ Iww() [2/2]

§ parent()

§ pf() [1/2]

§ pf() [2/2]

§ prependChild()

§ ptau() [1/2]

§ ptau() [2/2]

§ sibling()

§ sv() [1/2]

§ sv() [2/2]

§ sw() [1/2]

§ sw() [2/2]

§ uu() [1/2]

§ uu() [2/2]

§ vo() [1/2]

§ vo() [2/2]

Member Data Documentation

§ EIGEN_MAKE_ALIGNED_OPERATOR_NEW