#include <multibody/model.hpp>
Public Types | |
typedef Eigen::Matrix< double, 6, Eigen::Dynamic > | Matrix6x |
typedef Eigen::Matrix< double, 3, Eigen::Dynamic > | Matrix3x |
typedef SE3::Vector3 | Vector3 |
Public Member Functions | |
Data (const Model &ref) | |
Public Attributes | |
const Model & | model |
JointDataVector | joints |
std::vector< Motion > | a |
std::vector< Motion > | a_gf |
std::vector< Motion > | v |
std::vector< Force > | f |
std::vector< SE3 > | oMi |
std::vector< SE3 > | liMi |
Eigen::VectorXd | tau |
Eigen::VectorXd | nle |
std::vector< Inertia > | Ycrb |
Eigen::MatrixXd | M |
std::vector< Matrix6x > | Fcrb |
std::vector< int > | lastChild |
std::vector< int > | nvSubtree |
Eigen::MatrixXd | U |
Eigen::VectorXd | D |
Eigen::VectorXd | tmp |
std::vector< int > | parents_fromRow |
std::vector< int > | nvSubtree_fromRow |
Matrix6x | J |
std::vector< SE3 > | iMf |
std::vector< Eigen::Vector3d > | com |
std::vector< Eigen::Vector3d > | vcom |
std::vector< Eigen::Vector3d > | acom |
std::vector< double > | mass |
Matrix3x | Jcom |
Eigen::VectorXd | effortLimit |
Eigen::VectorXd | velocityLimit |
Eigen::VectorXd | lowerPositionLimit |
Eigen::VectorXd | upperPositionLimit |
double | kinetic_energy |
double | potential_energy |
typedef Eigen::Matrix<double,3,Eigen::Dynamic> se3::Data::Matrix3x |
typedef Eigen::Matrix<double,6,Eigen::Dynamic> se3::Data::Matrix6x |
typedef SE3::Vector3 se3::Data::Vector3 |
se3::Data::Data | ( | const Model & | ref | ) | [inline] |
References a, a_gf, f, Fcrb, se3::Model::gravity, J, se3::Model::joints, joints, liMi, M, model, se3::Model::nbody, se3::Model::nv, oMi, se3::CreateJointData::run(), U, and v.
std::vector<Motion> se3::Data::a |
std::vector<Motion> se3::Data::a_gf |
std::vector<Eigen::Vector3d> se3::Data::acom |
Referenced by se3::centerOfMassAcceleration().
std::vector<Eigen::Vector3d> se3::Data::com |
Eigen::VectorXd se3::Data::D |
Referenced by se3::cholesky::decompose(), se3::cholesky::solve(), and se3::cholesky::internal::UDUtv().
Eigen::VectorXd se3::Data::effortLimit |
Referenced by se3::JointLimitsStep::algo().
std::vector<Force> se3::Data::f |
std::vector<Matrix6x> se3::Data::Fcrb |
Referenced by se3::CrbaBackwardStep::algo(), se3::CATBackwardStep::algo(), and Data().
std::vector<SE3> se3::Data::iMf |
Referenced by se3::JacobianForwardStep::algo(), and se3::jacobian().
double se3::Data::kinetic_energy |
Referenced by se3::kineticEnergy().
std::vector<int> se3::Data::lastChild |
std::vector<SE3> se3::Data::liMi |
Referenced by se3::JacobiansForwardStep::algo(), se3::NLEForwardStep::algo(), se3::CATForwardStep::algo(), se3::RneaForwardStep::algo(), se3::CrbaForwardStep::algo(), se3::NLEBackwardStep::algo(), se3::RneaBackwardStep::algo(), se3::CrbaBackwardStep::algo(), se3::ForwardKinematicZeroStep::algo(), se3::CATBackwardStep::algo(), se3::JacobianForwardStep::algo(), se3::ForwardKinematicFirstStep::algo(), se3::JacobianCenterOfMassForwardStep::algo(), se3::ForwardKinematicSecondStep::algo(), se3::centerOfMass(), se3::centerOfMassAcceleration(), Data(), se3::getComFromCrba(), and se3::getJacobianComFromCrba().
Eigen::VectorXd se3::Data::lowerPositionLimit |
Referenced by se3::JointLimitsStep::algo().
Eigen::MatrixXd se3::Data::M |
std::vector<double> se3::Data::mass |
const Model& se3::Data::model |
Referenced by Data().
Eigen::VectorXd se3::Data::nle |
Referenced by se3::NLEBackwardStep::algo(), se3::CATBackwardStep::algo(), and se3::nonLinearEffects().
std::vector<int> se3::Data::nvSubtree |
Referenced by se3::CrbaBackwardStep::algo(), and se3::CATBackwardStep::algo().
std::vector<int> se3::Data::nvSubtree_fromRow |
std::vector<SE3> se3::Data::oMi |
Referenced by se3::JacobiansForwardStep::algo(), se3::CATForwardStep::algo(), se3::ForwardKinematicZeroStep::algo(), se3::ForwardKinematicFirstStep::algo(), se3::JacobianCenterOfMassForwardStep::algo(), se3::JacobianCenterOfMassBackwardStep::algo(), se3::ForwardKinematicSecondStep::algo(), Data(), se3::getJacobian(), se3::potentialEnergy(), and se3::updateCollisionGeometry().
std::vector<int> se3::Data::parents_fromRow |
Referenced by se3::cholesky::decompose(), and se3::getJacobian().
double se3::Data::potential_energy |
Referenced by se3::potentialEnergy().
Eigen::VectorXd se3::Data::tau |
Referenced by se3::RneaBackwardStep::algo(), and se3::rnea().
Eigen::VectorXd se3::Data::tmp |
Referenced by se3::cholesky::decompose().
Eigen::MatrixXd se3::Data::U |
Referenced by Data(), se3::cholesky::decompose(), se3::cholesky::Uiv(), se3::cholesky::Utiv(), se3::cholesky::Utv(), and se3::cholesky::Uv().
Eigen::VectorXd se3::Data::upperPositionLimit |
Referenced by se3::JointLimitsStep::algo().
std::vector<Motion> se3::Data::v |
Referenced by se3::NLEForwardStep::algo(), se3::CATForwardStep::algo(), se3::RneaForwardStep::algo(), se3::ForwardKinematicFirstStep::algo(), se3::ForwardKinematicSecondStep::algo(), se3::centerOfMassAcceleration(), se3::computeAllTerms(), Data(), se3::forwardKinematics(), se3::kineticEnergy(), se3::nonLinearEffects(), and se3::rnea().
std::vector<Eigen::Vector3d> se3::Data::vcom |
Referenced by se3::centerOfMassAcceleration().
Eigen::VectorXd se3::Data::velocityLimit |
Referenced by se3::JointLimitsStep::algo().
std::vector<Inertia> se3::Data::Ycrb |