rbd Namespace Reference

Namespaces
	ik
	MultiBodyGraph
	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
typedef std::vector< Block >	Blocks

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)
RBDYN_DEPRECATED RBDYN_DLLAPI void	eulerIntegration (const MultiBody &mb, MultiBodyConfig &mbc, double step)
RBDYN_DEPRECATED RBDYN_DLLAPI void	sEulerIntegration (const MultiBody &mb, MultiBodyConfig &mbc, double step)
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)
RBDYN_DLLAPI Eigen::Matrix< double, 10, 1 >	inertiaToVector (const sva::RBInertiad &rbi)
RBDYN_DLLAPI sva::RBInertiad	vectorToInertia (const Eigen::Matrix< double, 10, 1 > &vec)
RBDYN_DLLAPI sva::RBInertiad	sVectorToInertia (const Eigen::VectorXd &vec)
RBDYN_DLLAPI Eigen::VectorXd	multiBodyToInertialVector (const rbd::MultiBody &mb)
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)
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)
void	checkMatchBodiesVector (const MultiBody &mb, const std::vector< T > &vec, const std::string &name)
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)
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)
Eigen::Vector3d	computeCentroidalZMPComplete (MultiBodyConfig &mbc, Eigen::Vector3d &com, Eigen::Vector3d &comA, double altitude, sva::ForceVecd wr_external, double mass)