Namespaces
	ik

	parsers

Classes
struct	Block

class	Body

class	CentroidalMomentumMatrix

class	CoMJacobian

class	CoMJacobianDummy

class	ConfigConverter

class	Coriolis

class	ForwardDynamics

class	IDIM

class	InverseDynamics

class	InverseKinematics

class	InverseStatics

class	Jacobian

class	Joint

class	MultiBody

struct	MultiBodyConfig

class	MultiBodyGraph

Typedefs
using	Blocks = std::vector< Block >

Functions
std::ostream &	operator<< (std::ostream &out, const Body &b)

RBDYN_DLLAPI Eigen::Vector3d	computeCoM (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI Eigen::Vector3d	computeCoMVelocity (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI Eigen::Vector3d	computeCoMAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI Eigen::Vector3d	sComputeCoM (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI Eigen::Vector3d	sComputeCoMVelocity (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI Eigen::Vector3d	sComputeCoMAcceleration (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DEPRECATED RBDYN_DLLAPI void	eulerJointIntegration (Joint::Type type, const std::vector< double > &alpha, const std::vector< double > &alphaD, double step, std::vector< double > &q)
	Old name for. More...

RBDYN_DEPRECATED RBDYN_DLLAPI void	eulerIntegration (const MultiBody &mb, MultiBodyConfig &mbc, double step)
	Old name for. More...

RBDYN_DEPRECATED RBDYN_DLLAPI void	sEulerIntegration (const MultiBody &mb, MultiBodyConfig &mbc, double step)
	Old name for. More...

RBDYN_DLLAPI void	forwardAcceleration (const MultiBody &mb, MultiBodyConfig &mbc, const sva::MotionVecd &A_0=sva::MotionVecd(Eigen::Vector6d::Zero()))

RBDYN_DLLAPI void	sForwardAcceleration (const MultiBody &mb, MultiBodyConfig &mbc, const sva::MotionVecd &A_0=sva::MotionVecd(Eigen::Vector6d::Zero()))

RBDYN_DLLAPI void	forwardKinematics (const MultiBody &mb, MultiBodyConfig &mbc)

RBDYN_DLLAPI void	sForwardKinematics (const MultiBody &mb, MultiBodyConfig &mbc)

RBDYN_DLLAPI void	forwardVelocity (const MultiBody &mb, MultiBodyConfig &mbc)

RBDYN_DLLAPI void	sForwardVelocity (const MultiBody &mb, MultiBodyConfig &mbc)

RBDYN_DLLAPI Eigen::Matrix< double, 6, 10 >	IMPhi (const sva::MotionVecd &mv)
	Return the IMPhi matrix that compute Im = IMPhi(m)phi_i. More...

RBDYN_DLLAPI Eigen::Matrix< double, 10, 1 >	inertiaToVector (const sva::RBInertiad &rbi)

RBDYN_DLLAPI sva::RBInertiad	vectorToInertia (const Eigen::Matrix< double, 10, 1 > &vec)
	Convert a phi vector into a RBInertiad. More...

RBDYN_DLLAPI sva::RBInertiad	sVectorToInertia (const Eigen::VectorXd &vec)

RBDYN_DLLAPI Eigen::VectorXd	multiBodyToInertialVector (const rbd::MultiBody &mb)

template<typename T >
Eigen::Matrix3< T >	QuatToE (const std::vector< T > &q)

std::ostream &	operator<< (std::ostream &out, const Joint &b)

RBDYN_DLLAPI sva::ForceVecd	computeCentroidalMomentum (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com)

RBDYN_DLLAPI sva::ForceVecd	computeCentroidalMomentumDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)
	Compute the time derivative of centroidal momentum at the CoM frame. More...

RBDYN_DLLAPI sva::ForceVecd	sComputeCentroidalMomentum (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com)

RBDYN_DLLAPI sva::ForceVecd	sComputeCentroidalMomentumDot (const MultiBody &mb, const MultiBodyConfig &mbc, const Eigen::Vector3d &com, const Eigen::Vector3d &comDot)

RBDYN_DLLAPI void	paramToVector (const std::vector< std::vector< double >> &v, Eigen::Ref< Eigen::VectorXd > e)

RBDYN_DLLAPI void	sParamToVector (const std::vector< std::vector< double >> &v, Eigen::Ref< Eigen::VectorXd > e)

RBDYN_DLLAPI Eigen::VectorXd	paramToVector (const MultiBody &mb, const std::vector< std::vector< double >> &v)

RBDYN_DLLAPI Eigen::VectorXd	sParamToVector (const MultiBody &mb, const std::vector< std::vector< double >> &v)

RBDYN_DLLAPI Eigen::VectorXd	dofToVector (const MultiBody &mb, const std::vector< std::vector< double >> &v)

RBDYN_DLLAPI Eigen::VectorXd	sDofToVector (const MultiBody &mb, const std::vector< std::vector< double >> &v)

RBDYN_DLLAPI void	vectorToParam (const Eigen::Ref< const Eigen::VectorXd > &e, std::vector< std::vector< double >> &v)

RBDYN_DLLAPI void	sVectorToParam (const Eigen::Ref< const Eigen::VectorXd > &e, std::vector< std::vector< double >> &v)

RBDYN_DLLAPI std::vector< std::vector< double > >	vectorToParam (const MultiBody &mb, const Eigen::VectorXd &e)

RBDYN_DLLAPI std::vector< std::vector< double > >	sVectorToParam (const MultiBody &mb, const Eigen::VectorXd &e)

RBDYN_DLLAPI std::vector< std::vector< double > >	vectorToDof (const MultiBody &mb, const Eigen::VectorXd &e)

RBDYN_DLLAPI std::vector< std::vector< double > >	sVectorToDof (const MultiBody &mb, const Eigen::VectorXd &e)

template<typename T >
void	checkMatchBodiesVector (const MultiBody &mb, const std::vector< T > &vec, const std::string &name)

template<typename T >
void	checkMatchJointsVector (const MultiBody &mb, const std::vector< T > &vec, const std::string &name)

RBDYN_DLLAPI void	checkMatchBodyPos (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchParentToSon (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchBodyVel (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchBodyAcc (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchJointConf (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchJointVelocity (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchJointTorque (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchMotionSubspace (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchQ (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchAlpha (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchAlphaD (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI void	checkMatchForce (const MultiBody &mb, const MultiBodyConfig &mbc)

RBDYN_DLLAPI std::pair< Eigen::Quaterniond, bool >	SO3Integration (const Eigen::Quaterniond &qi, const Eigen::Vector3d &wi, const Eigen::Vector3d &wD, double step, double relEps=1e-12, double absEps=std::numeric_limits< double >::epsilon(), bool breakOnWarning=false)

RBDYN_DLLAPI void	jointIntegration (Joint::Type type, const std::vector< double > &alpha, const std::vector< double > &alphaD, double step, std::vector< double > &q, double prec=1e-10)

RBDYN_DLLAPI void	integration (const MultiBody &mb, MultiBodyConfig &mbc, double step, double prec=1e-10)

RBDYN_DLLAPI void	sIntegration (const MultiBody &mb, MultiBodyConfig &mbc, double step, double prec=1e-10)
	safe version of More...

RBDYN_DLLAPI void	imagePointJacobian (const Eigen::Vector2d &point2d, const double depthEstimate, Eigen::Matrix< double, 2, 6 > &jac)

RBDYN_DLLAPI void	imagePointJacobian (const Eigen::Vector3d &point3d, Eigen::Matrix< double, 2, 6 > &jac)

RBDYN_DLLAPI void	imagePointJacobianDot (const Eigen::Vector2d &imagePoint, const Eigen::Vector2d &imagePointSpeed, const double depth, const double depthDot, Eigen::Matrix< double, 2, 6 > &jac)

RBDYN_DLLAPI void	poseJacobian (const Eigen::Matrix3d &rotation, Eigen::Matrix< double, 6, 6 > &jac)

RBDYN_DLLAPI void	depthDotJacobian (const Eigen::Vector2d &imagePointSpeed, const double depthEstimate, Eigen::Matrix< double, 1, 6 > &jac)

RBDYN_DLLAPI void	getAngleAxis (const Eigen::Matrix3d &rotation, double &rot_angle, Eigen::Vector3d &rot_axis)

RBDYN_DLLAPI void	getSkewSym (const Eigen::Vector3d &vector, Eigen::Matrix3d &matrix)

RBDYN_DLLAPI Eigen::Vector3d	computeCentroidalZMP (MultiBodyConfig &mbc, Eigen::Vector3d &com, Eigen::Vector3d &comA, double altitude)

Eigen::Vector3d	computeCentroidalZMPNoGravity (Eigen::Vector3d &com, Eigen::Vector3d &comA, double altitude)
	Compute the ZMP in the world frame considering that gravity is taken into account in the CoM acceleration. More...

Eigen::Vector3d	computeCentroidalZMPComplete (MultiBodyConfig &mbc, Eigen::Vector3d &com, Eigen::Vector3d &comA, double altitude, sva::ForceVecd wr_external, double mass)
	Compute the ZMP considering the external wrench applied on the robot the gravity should also be already in the CoM acceleration. More...

Typedef Documentation

◆ Blocks

typedef std::vector< Block > rbd::Blocks

Function Documentation

◆ checkMatchAlpha()

RBDYN_DLLAPI void rbd::checkMatchAlpha	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.alpha.

◆ checkMatchAlphaD()

RBDYN_DLLAPI void rbd::checkMatchAlphaD	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.alphaD.

◆ checkMatchBodiesVector()

template<typename T >

void rbd::checkMatchBodiesVector	(	const MultiBody &	mb,
		const std::vector< T > &	vec,
		const std::string &	name
	)

Exceptions

std::domain_error If there is a mismatch between mb.nrBodies and vec.size()

◆ checkMatchBodyAcc()

RBDYN_DLLAPI void rbd::checkMatchBodyAcc	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.bodyAccB.

◆ checkMatchBodyPos()

RBDYN_DLLAPI void rbd::checkMatchBodyPos	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.bodyPosW.

◆ checkMatchBodyVel()

RBDYN_DLLAPI void rbd::checkMatchBodyVel	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and (mbc.bodyVelW, mbc.bodyVelB).

◆ checkMatchForce()

RBDYN_DLLAPI void rbd::checkMatchForce	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.force.

◆ checkMatchJointConf()

RBDYN_DLLAPI void rbd::checkMatchJointConf	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.jointConfig.

◆ checkMatchJointsVector()

template<typename T >

void rbd::checkMatchJointsVector	(	const MultiBody &	mb,
		const std::vector< T > &	vec,
		const std::string &	name
	)

Exceptions

std::domain_error If there is a mismatch between mb.nrJoints and vec.size()

◆ checkMatchJointTorque()

RBDYN_DLLAPI void rbd::checkMatchJointTorque	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.jointTorque.

◆ checkMatchJointVelocity()

RBDYN_DLLAPI void rbd::checkMatchJointVelocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.jointVelocity.

◆ checkMatchMotionSubspace()

RBDYN_DLLAPI void rbd::checkMatchMotionSubspace	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.motionSubspace.

◆ checkMatchParentToSon()

RBDYN_DLLAPI void rbd::checkMatchParentToSon	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.parentToSon.

◆ checkMatchQ()

RBDYN_DLLAPI void rbd::checkMatchQ	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Exceptions

std::domain_error If there is a mismatch between mb and mbc.q.

◆ computeCentroidalMomentum()

RBDYN_DLLAPI sva::ForceVecd rbd::computeCentroidalMomentum	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com
	)

Compute the centroidal momentum at the CoM frame as describe in [Orin and Gosawami 2008].

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelB.
com	CoM position.

Returns: centroidal momentum at the CoM frame.

◆ computeCentroidalMomentumDot()

RBDYN_DLLAPI sva::ForceVecd rbd::computeCentroidalMomentumDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot
	)

Compute the time derivative of centroidal momentum at the CoM frame.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelB, bodyAccB.
com	CoM position.
comDot	CoM velocity.

Returns: Derivative of the centroidal momentum at the CoM frame.

◆ computeCentroidalZMP()

RBDYN_DLLAPI Eigen::Vector3d rbd::computeCentroidalZMP	(	MultiBodyConfig &	mbc,
		Eigen::Vector3d &	com,
		Eigen::Vector3d &	comA,
		double	altitude
	)

Compute the ZMP in the world frame as in Kajita's book on humanoid robots chap. 3 p.38

Parameters

mbc	Use gravity
com	CoM position in world frame
comA	CoM acceleration in world frame, this must be computed without the gravity term
altitude	Double representing the surface's altitude in world frame

Returns: ZMP

◆ computeCentroidalZMPComplete()

Eigen::Vector3d rbd::computeCentroidalZMPComplete	(	MultiBodyConfig &	mbc,
		Eigen::Vector3d &	com,
		Eigen::Vector3d &	comA,
		double	altitude,
		sva::ForceVecd	wr_external,
		double	mass
	)

Compute the ZMP considering the external wrench applied on the robot the gravity should also be already in the CoM acceleration.

Parameters

mbc	used for the gravity
com	CoM position in world frame
comA	CoM acceleration in world frame, this must be computed with the gravity term
altitude	Double representing the surface's altitude in world frame
wr_external	External wrench acting on the CoM
mass	Mass of the robot

Returns: ZMP

◆ computeCentroidalZMPNoGravity()

Eigen::Vector3d rbd::computeCentroidalZMPNoGravity	(	Eigen::Vector3d &	com,
		Eigen::Vector3d &	comA,
		double	altitude
	)

Compute the ZMP in the world frame considering that gravity is taken into account in the CoM acceleration.

Parameters

com	CoM position in world frame
comA	CoM acceleration in world frame, this must be computed with the gravity term
altitude	Double representing the surface's altitude in world frame

Returns: ZMP

◆ computeCoM()

RBDYN_DLLAPI Eigen::Vector3d rbd::computeCoM	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the Center of Mass (CoM) position of a multibody.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW.

Returns: CoM position in world frame.

◆ computeCoMAcceleration()

RBDYN_DLLAPI Eigen::Vector3d rbd::computeCoMAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the Center of Mass (CoM) acceleration of a multibody.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW, bodyVelW, bodyVelB, and bodyAccB.

Returns: CoM velocity in world frame.

◆ computeCoMVelocity()

RBDYN_DLLAPI Eigen::Vector3d rbd::computeCoMVelocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Compute the Center of Mass (CoM) velocity of a multibody.

Parameters

mb	MultiBody used has model.
mbc	Use bodyPosW and bodyVelB.

Returns: CoM velocity in world frame.

◆ depthDotJacobian()

RBDYN_DLLAPI void rbd::depthDotJacobian	(	const Eigen::Vector2d &	imagePointSpeed,
		const double	depthEstimate,
		Eigen::Matrix< double, 1, 6 > &	jac
	)

Compute the interaction matrix of the depth derivative

Parameters

imagePointSpeed	is the normalized 2D coordinate speed
depthEstimate	is the estimate of the current depth
jac	is the output Jacobian

◆ dofToVector()

RBDYN_DLLAPI Eigen::VectorXd rbd::dofToVector	(	const MultiBody &	mb,
		const std::vector< std::vector< double >> &	v
	)

Convert dof vector to Eigen Vector.

Parameters

mb	MultiBody used has model.
v	dof vector.

Returns: dof converted in eigen vector.

◆ eulerIntegration()

RBDYN_DEPRECATED RBDYN_DLLAPI void rbd::eulerIntegration	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		double	step
	)

Old name for.

See also: integration

◆ eulerJointIntegration()

RBDYN_DEPRECATED RBDYN_DLLAPI void rbd::eulerJointIntegration	(	Joint::Type	type,
		const std::vector< double > &	alpha,
		const std::vector< double > &	alphaD,
		double	step,
		std::vector< double > &	q
	)

Old name for.

See also: jointIntegration

◆ forwardAcceleration()

RBDYN_DLLAPI void rbd::forwardAcceleration	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		const sva::MotionVecd &	A_0 = `sva::MotionVecd(Eigen::Vector6d::Zero())`
	)

Compute the forward acceleration of a MultiBody.

Parameters

mb	MultiBody used has model.
mbc	Use alphaD generalized acceleration vector, jointVelocity, parentToSon and bodyVelB. Fill bodyAccB.
A_0	initial acceleration in world coordinate.

◆ forwardKinematics()

RBDYN_DLLAPI void rbd::forwardKinematics	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc
	)

Compute the forward kinematic of a MultiBody.

Parameters

mb	MultiBody used has model.
mbc	Use q generalized position vector. Fill bodyPosW, jointConfig, motionSubspace and parentToSon.

◆ forwardVelocity()

RBDYN_DLLAPI void rbd::forwardVelocity	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc
	)

Compute the forward velocity of a MultiBody.

Parameters

mb	MultiBody used has model.
mbc	Use alpha generalized velocity vector, bodyPosW, jointConfig and parentToSon. Fill jointVelocity, bodyVelW and bodyVelB.

◆ getAngleAxis()

RBDYN_DLLAPI void rbd::getAngleAxis	(	const Eigen::Matrix3d &	rotation,
		double &	rot_angle,
		Eigen::Vector3d &	rot_axis
	)

Compute the angle and axis of an angle-axis rotation representation given a rotation matrix

Parameters

rotation	matrix as input
rot_angle	as output angle
rot_axis	as output axis

◆ getSkewSym()

RBDYN_DLLAPI void rbd::getSkewSym	(	const Eigen::Vector3d &	vector,
		Eigen::Matrix3d &	matrix
	)

Obtain the skew-symmetric (or anti-symmetric) matrix of a vector

Parameters

vector	as input
matrix	as output

◆ imagePointJacobian() [1/2]

RBDYN_DLLAPI void rbd::imagePointJacobian	(	const Eigen::Vector2d &	point2d,
		const double	depthEstimate,
		Eigen::Matrix< double, 2, 6 > &	jac
	)

Compute the interaction matrix of an image point

Parameters

point2d	normalized image coordinates (x,y) = (X/Z, Y/Z)
depthEstimate	an estimate of the point depth Z
jac	is the output Jacobian

◆ imagePointJacobian() [2/2]

RBDYN_DLLAPI void rbd::imagePointJacobian	(	const Eigen::Vector3d &	point3d,
		Eigen::Matrix< double, 2, 6 > &	jac
	)

Compute the interaction matrix of an image point

Parameters

point3d	metric location of the point relative to the camera frame
jac	is the output Jacobian

◆ imagePointJacobianDot()

RBDYN_DLLAPI void rbd::imagePointJacobianDot	(	const Eigen::Vector2d &	imagePoint,
		const Eigen::Vector2d &	imagePointSpeed,
		const double	depth,
		const double	depthDot,
		Eigen::Matrix< double, 2, 6 > &	jac
	)

Compute the interaction matrix derivative of an image point

Parameters

imagePoint	is the normalized 2D point
imagePointSpeed	is the speed of the normalized 2D point
depth	is the depth estimate
depthDot	is the derivative of the depth estimate
jac	is the output Jacobian

◆ IMPhi()

RBDYN_DLLAPI Eigen::Matrix<double, 6, 10> rbd::IMPhi ( const sva::MotionVecd & mv )

Return the IMPhi matrix that compute I*m = IMPhi(m)*phi_i.

◆ inertiaToVector()

RBDYN_DLLAPI Eigen::Matrix<double, 10, 1> rbd::inertiaToVector ( const sva::RBInertiad & rbi )

Convert a RBInertiad into a phi vector. We define the inertial parameters of a body i as the 10d vector phi_i = [m, h, I] = [m, hx, hy, hz, Ixx, Ixy, Ixz, Iyy, Iyz, Yzz]

◆ integration()

RBDYN_DLLAPI void rbd::integration	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		double	step,
		double	prec = `1e-10`
	)

Use numerical or Euler methods (depending on joints) to compute the joint configurations and velocities after a step with constant joint accelerations.

Parameters

mb	MultiBody used has model.
mbc	Use alphaD, alpha and q. Fill alpha and q.
step	Integration step.
prec	Absolute precision used by numerical integrators.

◆ jointIntegration()

RBDYN_DLLAPI void rbd::jointIntegration	(	Joint::Type	type,
		const std::vector< double > &	alpha,
		const std::vector< double > &	alphaD,
		double	step,
		std::vector< double > &	q,
		double	prec = `1e-10`
	)

Integrate joint configuration.

Parameters

type	Joint type.
alpha	Joint velocity vector.
alphaD	Joint acceleration vector.
step	Integration step.
q	Joint configuration vector.
prec	Absolute precision used by numerical integrators.

◆ multiBodyToInertialVector()

RBDYN_DLLAPI Eigen::VectorXd rbd::multiBodyToInertialVector ( const rbd::MultiBody & mb )

Apply inertiaToVector to all MultiBody Body and concatenate it into one vector Phi = [phi_0, ..., phi_N]

◆ operator<<() [1/2]

std::ostream& rbd::operator<<	(	std::ostream &	out,
		const Body &	b
	)

inline

◆ operator<<() [2/2]

std::ostream& rbd::operator<<	(	std::ostream &	out,
		const Joint &	b
	)

inline

◆ paramToVector() [1/2]

RBDYN_DLLAPI Eigen::VectorXd rbd::paramToVector	(	const MultiBody &	mb,
		const std::vector< std::vector< double >> &	v
	)

Convert parameter vector to Eigen Vector.

Parameters

mb	MultiBody used has model.
v	Parameter vector.

Returns: Parameter converted in eigen vector.

◆ paramToVector() [2/2]

RBDYN_DLLAPI void rbd::paramToVector	(	const std::vector< std::vector< double >> &	v,
		Eigen::Ref< Eigen::VectorXd >	e
	)

Convert parameter vector to Eigen Vector.

Parameters

v	Parameter vector.
e	Output Eigen vector (must be of the good size).

◆ poseJacobian()

RBDYN_DLLAPI void rbd::poseJacobian	(	const Eigen::Matrix3d &	rotation,
		Eigen::Matrix< double, 6, 6 > &	jac
	)

Compute the interaction matrix of a pose

Parameters

rotation	matrix
jac	is the output Jacobian
rot_angle_threshold	is the minimum angle of an axis angle representation where the angle is considered as zero

◆ QuatToE()

template<typename T >

Eigen::Matrix3< T > rbd::QuatToE ( const std::vector< T > & q )

inline

Utility function to compute a rotation matrix from the parameter vector.

Parameters

q	parameter vector with a least 4 values (treated as wxyz).

Returns: Rotation matrix in successor frame.

◆ sComputeCentroidalMomentum()

RBDYN_DLLAPI sva::ForceVecd rbd::sComputeCentroidalMomentum	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com
	)

Safe version.

See also: computeCentroidalMomentum.

Exceptions

std::domain_error If there is a mismatch between mb and mbc.

◆ sComputeCentroidalMomentumDot()

RBDYN_DLLAPI sva::ForceVecd rbd::sComputeCentroidalMomentumDot	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc,
		const Eigen::Vector3d &	com,
		const Eigen::Vector3d &	comDot
	)

Safe version.

See also: computeCentroidalMomentumDot.

Exceptions

std::domain_error If there is a mismatch between mb and mbc.

◆ sComputeCoM()

RBDYN_DLLAPI Eigen::Vector3d rbd::sComputeCoM	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Safe version.

See also: computeCoM.

Exceptions

std::domain_error If there is a mismatch between mb and mbc.

◆ sComputeCoMAcceleration()

RBDYN_DLLAPI Eigen::Vector3d rbd::sComputeCoMAcceleration	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Safe version.

See also: computeCoMAcceleration.

Exceptions

std::domain_error If there is a mismatch between mb and mbc.

◆ sComputeCoMVelocity()

RBDYN_DLLAPI Eigen::Vector3d rbd::sComputeCoMVelocity	(	const MultiBody &	mb,
		const MultiBodyConfig &	mbc
	)

Safe version.

See also: computeCoMVelocity.

Exceptions

std::domain_error If there is a mismatch between mb and mbc.

◆ sDofToVector()

RBDYN_DLLAPI Eigen::VectorXd rbd::sDofToVector	(	const MultiBody &	mb,
		const std::vector< std::vector< double >> &	v
	)

Safe version of

See also: paramToDof.

Exceptions

std::out_of_range if dof and Eigen vector mismatch.

◆ sEulerIntegration()

RBDYN_DEPRECATED RBDYN_DLLAPI void rbd::sEulerIntegration	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		double	step
	)

Old name for.

See also: sIntegration

◆ sForwardAcceleration()

RBDYN_DLLAPI void rbd::sForwardAcceleration	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		const sva::MotionVecd &	A_0 = `sva::MotionVecd(Eigen::Vector6d::Zero())`
	)

Safe version.

See also: forwardAcceleration.

Exceptions

std::domain_error If there is a mismatch between mb and mbc.

◆ sForwardKinematics()

RBDYN_DLLAPI void rbd::sForwardKinematics	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc
	)

Safe version.

See also: forwardKinematics.

Exceptions

std::domain_error If there is a mismatch between mb and mbc.

◆ sForwardVelocity()

RBDYN_DLLAPI void rbd::sForwardVelocity	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc
	)

Safe version.

See also: forwardVelocity.

Exceptions

std::domain_error If there is a mismatch between mb and mbc.

◆ sIntegration()

RBDYN_DLLAPI void rbd::sIntegration	(	const MultiBody &	mb,
		MultiBodyConfig &	mbc,
		double	step,
		double	prec = `1e-10`
	)

safe version of

See also: integration.

◆ SO3Integration()

RBDYN_DLLAPI std::pair<Eigen::Quaterniond, bool> rbd::SO3Integration	(	const Eigen::Quaterniond &	qi,
		const Eigen::Vector3d &	wi,
		const Eigen::Vector3d &	wD,
		double	step,
		double	relEps = `1e-12`,
		double	absEps = `std::numeric_limits< double >::epsilon()`,
		bool	breakOnWarning = `false`
	)

Integrate a constant rotation acceleration.

Parameters

qi	Initial orientation.
wi	Initial rotation speed.
wD	Constant acceleration.
step	Integration step.
relEps	Stopping criterion for the underlying Magnus expansion, relatively to the norm of its first term.
absEps	Absolute precision required on the underlying Magnus expansion.
breakOnWarning	If true, computation is stopped right after the underlying Magnus expansion when it returns a warning, and qi is returned, otherwise perform the full computation.

◆ sParamToVector() [1/2]

RBDYN_DLLAPI Eigen::VectorXd rbd::sParamToVector	(	const MultiBody &	mb,
		const std::vector< std::vector< double >> &	v
	)

Safe version of

See also: paramToVector.

Exceptions

std::out_of_range if param and Eigen vector mismatch.

◆ sParamToVector() [2/2]

RBDYN_DLLAPI void rbd::sParamToVector	(	const std::vector< std::vector< double >> &	v,
		Eigen::Ref< Eigen::VectorXd >	e
	)

Safe version of

See also: paramToVector.

Exceptions

std::out_of_range if param and Eigen vector mismatch.

◆ sVectorToDof()

RBDYN_DLLAPI std::vector<std::vector<double> > rbd::sVectorToDof	(	const MultiBody &	mb,
		const Eigen::VectorXd &	e
	)

Safe version of

See also: vectorToDof.

Exceptions

std::out_of_range if dof and Eigen vector mismatch.

◆ sVectorToInertia()

RBDYN_DLLAPI sva::RBInertiad rbd::sVectorToInertia ( const Eigen::VectorXd & vec )

Safe version of

See also: vectorToInertia.

Exceptions

std::out_of_range if the vector don't have 10 rows.

◆ sVectorToParam() [1/2]

RBDYN_DLLAPI void rbd::sVectorToParam	(	const Eigen::Ref< const Eigen::VectorXd > &	e,
		std::vector< std::vector< double >> &	v
	)

Safe version of

See also: vectorToParam.

Exceptions

std::out_of_range if param and Eigen vector mismatch.

◆ sVectorToParam() [2/2]

RBDYN_DLLAPI std::vector<std::vector<double> > rbd::sVectorToParam	(	const MultiBody &	mb,
		const Eigen::VectorXd &	e
	)

Safe version of

See also: vectorToParam.

Exceptions

std::out_of_range if param and Eigen vector mismatch.

◆ vectorToDof()

RBDYN_DLLAPI std::vector<std::vector<double> > rbd::vectorToDof	(	const MultiBody &	mb,
		const Eigen::VectorXd &	e
	)

Convert dof vector to Eigen Vector.

Parameters

mb	MultiBody used has model.
e	Eigen vector.

Returns: Eigen vector converted in parameter vector.

◆ vectorToInertia()

RBDYN_DLLAPI sva::RBInertiad rbd::vectorToInertia ( const Eigen::Matrix< double, 10, 1 > & vec )

Convert a phi vector into a RBInertiad.

◆ vectorToParam() [1/2]

RBDYN_DLLAPI void rbd::vectorToParam	(	const Eigen::Ref< const Eigen::VectorXd > &	e,
		std::vector< std::vector< double >> &	v
	)

Convert parameter vector to Eigen Vector.

Parameters

e	Eigen vector.
v	Output parameter vector (must be of the good size).

◆ vectorToParam() [2/2]

RBDYN_DLLAPI std::vector<std::vector<double> > rbd::vectorToParam	(	const MultiBody &	mb,
		const Eigen::VectorXd &	e
	)

Convert parameter vector to Eigen Vector.

Parameters

mb	MultiBody used has model.
e	Eigen vector.

Returns: Eigen vector converted in parameter vector.

Namespaces

Classes

Typedefs

Functions

Typedef Documentation

◆ Blocks

Function Documentation

◆ checkMatchAlpha()

◆ checkMatchAlphaD()

◆ checkMatchBodiesVector()

◆ checkMatchBodyAcc()

◆ checkMatchBodyPos()

◆ checkMatchBodyVel()

◆ checkMatchForce()

◆ checkMatchJointConf()

◆ checkMatchJointsVector()

◆ checkMatchJointTorque()

◆ checkMatchJointVelocity()

◆ checkMatchMotionSubspace()

◆ checkMatchParentToSon()

◆ checkMatchQ()

◆ computeCentroidalMomentum()

◆ computeCentroidalMomentumDot()

◆ computeCentroidalZMP()

◆ computeCentroidalZMPComplete()

◆ computeCentroidalZMPNoGravity()

◆ computeCoM()

◆ computeCoMAcceleration()

◆ computeCoMVelocity()

◆ depthDotJacobian()

◆ dofToVector()

◆ eulerIntegration()

◆ eulerJointIntegration()

◆ forwardAcceleration()

◆ forwardKinematics()

◆ forwardVelocity()

◆ getAngleAxis()

◆ getSkewSym()

◆ imagePointJacobian() [1/2]

◆ imagePointJacobian() [2/2]

◆ imagePointJacobianDot()

◆ IMPhi()

◆ inertiaToVector()

◆ integration()

◆ jointIntegration()

◆ multiBodyToInertialVector()

◆ operator<<() [1/2]

◆ operator<<() [2/2]

◆ paramToVector() [1/2]

◆ paramToVector() [2/2]

◆ poseJacobian()

◆ QuatToE()

◆ sComputeCentroidalMomentum()

◆ sComputeCentroidalMomentumDot()

◆ sComputeCoM()

◆ sComputeCoMAcceleration()

◆ sComputeCoMVelocity()

◆ sDofToVector()

◆ sEulerIntegration()

◆ sForwardAcceleration()

◆ sForwardKinematics()

◆ sForwardVelocity()

◆ sIntegration()

◆ SO3Integration()

◆ sParamToVector() [1/2]

◆ sParamToVector() [2/2]

◆ sVectorToDof()

◆ sVectorToInertia()

◆ sVectorToParam() [1/2]

◆ sVectorToParam() [2/2]

◆ vectorToDof()

◆ vectorToInertia()

◆ vectorToParam() [1/2]

◆ vectorToParam() [2/2]