#include <RBDyn/RBDyn/MultiBody.h>

Public Member Functions
	MultiBody ()

	MultiBody (std::vector< Body > bodies, std::vector< Joint > joints, std::vector< int > pred, std::vector< int > succ, std::vector< int > parent, std::vector< sva::PTransformd > Xt)

int	nrBodies () const

int	nrJoints () const

const std::vector< Body > &	bodies () const

void	bodies (std::vector< Body > b)
	Set bodies of the multibody system. More...

const Body &	body (int num) const

void	body (int num, const Body &b)
	Set the body num in bodies list. More...

const std::vector< Joint > &	joints () const

const Joint &	joint (int num) const

const std::vector< int > &	predecessors () const

int	predecessor (int num) const

const std::vector< int > &	successors () const

int	successor (int num) const

const std::vector< int > &	parents () const

int	parent (int num) const

const std::vector< sva::PTransformd > &	transforms () const

void	transforms (std::vector< sva::PTransformd > Xt)

const sva::PTransformd &	transform (int num) const

void	transform (int num, const sva::PTransformd &Xt)
	Set the transformation from the body base to joint num. More...

int	bodyIndexByName (const std::string &name) const

int	jointIndexByName (const std::string &name) const

const std::unordered_map< std::string, int > &	bodyIndexByName () const

const std::unordered_map< std::string, int > &	jointIndexByName () const

int	jointPosInParam (int i) const

int	jointPosInDof (int i) const

const std::vector< int > &	jointsPosInParam () const

const std::vector< int > &	jointsPosInDof () const

int	nrParams () const

int	nrDof () const

void	sBodies (std::vector< Body > b)

const Body &	sBody (int num) const

void	sBody (int num, const Body &b)

const Joint &	sJoint (int num) const

int	sPredecessor (int num) const

int	sSuccessor (int num) const

int	sParent (int num) const

void	sTransforms (std::vector< sva::PTransformd > Xt)

const sva::PTransformd &	sTransform (int num) const

void	sTransform (int num, const sva::PTransformd &Xt)

int	sJointPosInParam (int i) const

int	sJointPosInDof (int i) const

int	sBodyIndexByName (const std::string &name) const

int	sJointIndexByName (const std::string &name) const

Protected Attributes
std::vector< Body >	bodies_

std::vector< Joint >	joints_

std::vector< int >	pred_

std::vector< int >	succ_

std::vector< int >	parent_

std::vector< sva::PTransformd >	Xt_
	Transformation from the body base to joint i. More...

std::unordered_map< std::string, int >	bodyNameToInd_

std::unordered_map< std::string, int >	jointNameToInd_

std::vector< int >	jointPosInParam_
	Position of joint i in parameter vector. More...

std::vector< int >	jointPosInDof_
	Position of joint i in dof vector (velocity, acceleration...). More...

int	nrParams_

int	nrDof_

Detailed Description

Kinematic tree of a multibody system. Same representation as featherstone except joint 0 is the root joint.

Constructor & Destructor Documentation

◆ MultiBody() [1/2]

rbd::MultiBody::MultiBody ( )

◆ MultiBody() [2/2]

rbd::MultiBody::MultiBody	(	std::vector< Body >	bodies,
		std::vector< Joint >	joints,
		std::vector< int >	pred,
		std::vector< int >	succ,
		std::vector< int >	parent,
		std::vector< sva::PTransformd >	Xt
	)

Parameters

bodies	Bodies of the multibody system.
joints	Joints of the mutibody system.
pred	Predeccesor body index of each joint.
succ	Successor body index of each joint.
parent	Parent body index of each body.
Xt	Transformation from the body base to joint i.

Member Function Documentation

◆ bodies() [1/2]

const std::vector<Body>& rbd::MultiBody::bodies ( ) const

inline

Returns: Bodies of the multibody system.

◆ bodies() [2/2]

void rbd::MultiBody::bodies ( std::vector< Body > b )

inline

Set bodies of the multibody system.

◆ body() [1/2]

const Body& rbd::MultiBody::body ( int num ) const

inline

Returns: Body at num position in bodies list.

◆ body() [2/2]

void rbd::MultiBody::body	(	int	num,
		const Body &	b
	)

inline

Set the body num in bodies list.

◆ bodyIndexByName() [1/2]

const std::unordered_map<std::string, int>& rbd::MultiBody::bodyIndexByName ( ) const

inline

Returns: Hash map of body index by name.

◆ bodyIndexByName() [2/2]

int rbd::MultiBody::bodyIndexByName ( const std::string & name ) const

inline

Returns: Index of the body with name 'name'.

◆ joint()

const Joint& rbd::MultiBody::joint ( int num ) const

inline

Returns: Joint at num position in joint list.

◆ jointIndexByName() [1/2]

const std::unordered_map<std::string, int>& rbd::MultiBody::jointIndexByName ( ) const

inline

Returns: Hash map of joint index by name.

◆ jointIndexByName() [2/2]

int rbd::MultiBody::jointIndexByName ( const std::string & name ) const

inline

Returns: Index of the joint with name 'name'.

◆ jointPosInDof()

int rbd::MultiBody::jointPosInDof ( int i ) const

inline

Returns: the joint i position in dof vector (alpha, alphaD...).

◆ jointPosInParam()

int rbd::MultiBody::jointPosInParam ( int i ) const

inline

Returns: the joint i position in parameter vector (q).

◆ joints()

const std::vector<Joint>& rbd::MultiBody::joints ( ) const

inline

Returns: Joints of the multibody system.

◆ jointsPosInDof()

const std::vector<int>& rbd::MultiBody::jointsPosInDof ( ) const

inline

Returns: the joint position in dof vector (alpha, alphaD...).

◆ jointsPosInParam()

const std::vector<int>& rbd::MultiBody::jointsPosInParam ( ) const

inline

Returns: the joint position in parameter vector (q).

◆ nrBodies()

int rbd::MultiBody::nrBodies ( ) const

inline

Returns: Number of bodies.

◆ nrDof()

int rbd::MultiBody::nrDof ( ) const

inline

Returns: Total number of DoF.

◆ nrJoints()

int rbd::MultiBody::nrJoints ( ) const

inline

Returns: Number of joints.

◆ nrParams()

int rbd::MultiBody::nrParams ( ) const

inline

Returns: Total number of parameters.

◆ parent()

int rbd::MultiBody::parent ( int num ) const

inline

Returns: Parent body of body num.

◆ parents()

const std::vector<int>& rbd::MultiBody::parents ( ) const

inline

Returns: Parent body index of each body.

◆ predecessor()

int rbd::MultiBody::predecessor ( int num ) const

inline

Returns: Predecessor body of joint num.

◆ predecessors()

const std::vector<int>& rbd::MultiBody::predecessors ( ) const

inline

Returns: Predeccesor body index of each joint.

◆ sBodies()

void rbd::MultiBody::sBodies ( std::vector< Body > b )

inline

Safe version of

See also: bodies.

Exceptions

std::runtime_error.

◆ sBody() [1/2]

const Body& rbd::MultiBody::sBody ( int num ) const

inline

Safe version of

See also: body.

Exceptions

std::out_of_range.

◆ sBody() [2/2]

void rbd::MultiBody::sBody	(	int	num,
		const Body &	b
	)

inline

Safe version of

See also: body.

Exceptions

std::out_of_range.

◆ sBodyIndexByName()

int rbd::MultiBody::sBodyIndexByName ( const std::string & name ) const

inline

Safe version of

See also: bodyIndexByName.

Exceptions

std::out_of_range

◆ sJoint()

const Joint& rbd::MultiBody::sJoint ( int num ) const

inline

Safe version of

See also: joint.

Exceptions

std::out_of_range.

◆ sJointIndexByName()

int rbd::MultiBody::sJointIndexByName ( const std::string & name ) const

inline

Safe version of

See also: jointIndexByName.

Exceptions

std::out_of_range

◆ sJointPosInDof()

int rbd::MultiBody::sJointPosInDof ( int i ) const

inline

Safe version of

See also: jointPosInDof.

Exceptions

std::out_of_range.

◆ sJointPosInParam()

int rbd::MultiBody::sJointPosInParam ( int i ) const

inline

Safe version of

See also: jointPosInParam.

Exceptions

std::out_of_range.

◆ sParent()

int rbd::MultiBody::sParent ( int num ) const

inline

Safe version of

See also: parent.

Exceptions

std::out_of_range.

◆ sPredecessor()

int rbd::MultiBody::sPredecessor ( int num ) const

inline

Safe version of

See also: predecessor.

Exceptions

std::out_of_range.

◆ sSuccessor()

int rbd::MultiBody::sSuccessor ( int num ) const

inline

Safe version of

See also: successor.

Exceptions

std::out_of_range.

◆ sTransform() [1/2]

const sva::PTransformd& rbd::MultiBody::sTransform ( int num ) const

inline

Safe version of

See also: transform.

Exceptions

std::out_of_range.

◆ sTransform() [2/2]

void rbd::MultiBody::sTransform	(	int	num,
		const sva::PTransformd &	Xt
	)

inline

Safe version of

See also: transform.

Exceptions

std::out_of_range.

◆ sTransforms()

void rbd::MultiBody::sTransforms ( std::vector< sva::PTransformd > Xt )

inline

Safe version of

See also: transforms.

Exceptions

std::runtime_error.

◆ successor()

int rbd::MultiBody::successor ( int num ) const

inline

Returns: Successor body of joint num.

◆ successors()

const std::vector<int>& rbd::MultiBody::successors ( ) const

inline

Returns: Successor body index of each joint.

◆ transform() [1/2]

const sva::PTransformd& rbd::MultiBody::transform ( int num ) const

inline

Returns: Transformation from the body base to joint num

◆ transform() [2/2]

void rbd::MultiBody::transform	(	int	num,
		const sva::PTransformd &	Xt
	)

inline

Set the transformation from the body base to joint num.

◆ transforms() [1/2]

const std::vector<sva::PTransformd>& rbd::MultiBody::transforms ( ) const

inline

Returns: Transformation from the body base to joint i

◆ transforms() [2/2]

void rbd::MultiBody::transforms ( std::vector< sva::PTransformd > Xt )

inline

Returns: Set Transformation from the body base to joint i

Member Data Documentation

◆ bodies_

std::vector<Body> rbd::MultiBody::bodies_

protected

◆ bodyNameToInd_

std::unordered_map<std::string, int> rbd::MultiBody::bodyNameToInd_

protected

◆ jointNameToInd_

std::unordered_map<std::string, int> rbd::MultiBody::jointNameToInd_

protected

◆ jointPosInDof_

std::vector<int> rbd::MultiBody::jointPosInDof_

protected

Position of joint i in dof vector (velocity, acceleration...).

◆ jointPosInParam_

std::vector<int> rbd::MultiBody::jointPosInParam_

protected

Position of joint i in parameter vector.

◆ joints_

std::vector<Joint> rbd::MultiBody::joints_

protected

◆ nrDof_

int rbd::MultiBody::nrDof_

protected

◆ nrParams_

int rbd::MultiBody::nrParams_

protected

◆ parent_

std::vector<int> rbd::MultiBody::parent_

protected

◆ pred_

std::vector<int> rbd::MultiBody::pred_

protected

◆ succ_

std::vector<int> rbd::MultiBody::succ_

protected

◆ Xt_

std::vector<sva::PTransformd> rbd::MultiBody::Xt_

protected

Transformation from the body base to joint i.

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

src/RBDyn/RBDyn/MultiBody.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MultiBody() [1/2]

◆ MultiBody() [2/2]

Member Function Documentation

◆ bodies() [1/2]

◆ bodies() [2/2]

◆ body() [1/2]

◆ body() [2/2]

◆ bodyIndexByName() [1/2]

◆ bodyIndexByName() [2/2]

◆ joint()

◆ jointIndexByName() [1/2]

◆ jointIndexByName() [2/2]

◆ jointPosInDof()

◆ jointPosInParam()

◆ joints()

◆ jointsPosInDof()

◆ jointsPosInParam()

◆ nrBodies()

◆ nrDof()

◆ nrJoints()

◆ nrParams()

◆ parent()

◆ parents()

◆ predecessor()

◆ predecessors()

◆ sBodies()

◆ sBody() [1/2]

◆ sBody() [2/2]

◆ sBodyIndexByName()

◆ sJoint()

◆ sJointIndexByName()

◆ sJointPosInDof()

◆ sJointPosInParam()

◆ sParent()

◆ sPredecessor()

◆ sSuccessor()

◆ sTransform() [1/2]

◆ sTransform() [2/2]

◆ sTransforms()

◆ successor()

◆ successors()

◆ transform() [1/2]

◆ transform() [2/2]

◆ transforms() [1/2]

◆ transforms() [2/2]

Member Data Documentation

◆ bodies_

◆ bodyNameToInd_

◆ jointNameToInd_

◆ jointPosInDof_

◆ jointPosInParam_

◆ joints_

◆ nrDof_

◆ nrParams_

◆ parent_

◆ pred_

◆ succ_

◆ Xt_