Namespaces | |
namespace | buildModels |
namespace | cholesky |
namespace | forceSet |
namespace | fusion |
namespace | internal |
namespace | lua |
namespace | motionSet |
namespace | prismatic |
namespace | python |
namespace | revolute |
namespace | urdf |
Classes | |
struct | JacobianCenterOfMassForwardStep |
struct | JacobianCenterOfMassBackwardStep |
struct | CrbaForwardStep |
struct | CrbaBackwardStep |
struct | JacobiansForwardStep |
struct | JacobianForwardStep |
struct | JointLimitsStep |
struct | emptyForwardStep |
struct | ForwardKinematicZeroStep |
struct | ForwardKinematicFirstStep |
struct | ForwardKinematicSecondStep |
struct | NLEForwardStep |
struct | NLEBackwardStep |
struct | RneaForwardStep |
struct | RneaBackwardStep |
class | Exception |
class | ConstraintBase |
struct | traits< ConstraintTpl< D, T, U > > |
class | ConstraintTpl |
class | ForceSetTpl |
class | IsSameCollisionPair |
struct | DistanceResult |
class | GeometryModel |
class | GeometryData |
struct | JointDataBase |
struct | SizeDepType |
struct | SizeDepType< Eigen::Dynamic > |
struct | JointModelBase |
struct | traits< JointDense< _NQ, _NV > > |
struct | traits< JointDataDense< _NQ, _NV > > |
struct | traits< JointModelDense< _NQ, _NV > > |
struct | JointDataDense |
struct | JointModelDense |
struct | traits< ConstraintIdentity > |
struct | ConstraintIdentity |
struct | traits< JointFreeFlyer > |
struct | traits< JointDataFreeFlyer > |
struct | traits< JointModelFreeFlyer > |
struct | JointDataFreeFlyer |
struct | JointModelFreeFlyer |
struct | traits< JointGeneric > |
struct | traits< JointDataGeneric > |
struct | traits< JointModelGeneric > |
struct | JointDataGeneric |
struct | JointModelGeneric |
struct | traits< MotionPlanar > |
struct | MotionPlanar |
struct | traits< ConstraintPlanar > |
struct | ConstraintPlanar |
struct | traits< JointPlanar > |
struct | traits< JointDataPlanar > |
struct | traits< JointModelPlanar > |
struct | JointDataPlanar |
struct | JointModelPlanar |
struct | traits< MotionPrismaticUnaligned > |
struct | MotionPrismaticUnaligned |
struct | traits< ConstraintPrismaticUnaligned > |
struct | ConstraintPrismaticUnaligned |
struct | traits< JointPrismaticUnaligned > |
struct | traits< JointDataPrismaticUnaligned > |
struct | traits< JointModelPrismaticUnaligned > |
struct | JointDataPrismaticUnaligned |
struct | JointModelPrismaticUnaligned |
struct | traits< MotionPrismatic< axis > > |
struct | MotionPrismatic |
struct | traits< ConstraintPrismatic< axis > > |
struct | ConstraintPrismatic |
struct | JointPrismatic |
struct | traits< JointPrismatic< axis > > |
struct | traits< JointDataPrismatic< axis > > |
struct | traits< JointModelPrismatic< axis > > |
struct | JointDataPrismatic |
struct | JointModelPrismatic |
struct | traits< MotionRevoluteUnaligned > |
struct | MotionRevoluteUnaligned |
struct | traits< ConstraintRevoluteUnaligned > |
struct | ConstraintRevoluteUnaligned |
struct | traits< JointRevoluteUnaligned > |
struct | traits< JointDataRevoluteUnaligned > |
struct | traits< JointModelRevoluteUnaligned > |
struct | JointDataRevoluteUnaligned |
struct | JointModelRevoluteUnaligned |
struct | traits< MotionRevolute< axis > > |
struct | MotionRevolute |
struct | traits< ConstraintRevolute< axis > > |
struct | ConstraintRevolute |
struct | JointRevolute |
struct | traits< JointRevolute< axis > > |
struct | traits< JointDataRevolute< axis > > |
struct | traits< JointModelRevolute< axis > > |
struct | JointDataRevolute |
struct | JointModelRevolute |
struct | JointSphericalZYXTpl |
struct | traits< JointSphericalZYX > |
struct | traits< JointDataSphericalZYX > |
struct | traits< JointModelSphericalZYX > |
struct | JointDataSphericalZYX |
struct | JointModelSphericalZYX |
struct | traits< MotionSpherical > |
struct | MotionSpherical |
struct | traits< struct ConstraintRotationalSubspace > |
struct | ConstraintRotationalSubspace |
struct | traits< JointSpherical > |
struct | traits< JointDataSpherical > |
struct | traits< JointModelSpherical > |
struct | JointDataSpherical |
struct | JointModelSpherical |
struct | traits< MotionTranslation > |
struct | MotionTranslation |
struct | traits< ConstraintTranslationSubspace > |
struct | ConstraintTranslationSubspace |
struct | traits< JointTranslation > |
struct | traits< JointDataTranslation > |
struct | traits< JointModelTranslation > |
struct | JointDataTranslation |
struct | JointModelTranslation |
class | CreateJointData |
class | Joint_nv |
class | Joint_nq |
class | Joint_idx_q |
class | Joint_idx_v |
class | Joint_lowerPosLimit |
class | Joint_upperPosLimit |
class | Joint_maxEffortLimit |
class | Joint_maxVelocityLimit |
class | Model |
class | Data |
struct | CATForwardStep |
struct | CATBackwardStep |
class | ForceBase |
struct | traits< ForceTpl< T, U > > |
class | ForceTpl |
struct | traits |
class | InertiaBase |
struct | traits< InertiaTpl< T, U > > |
class | InertiaTpl |
class | MotionBase |
struct | traits< MotionTpl< T, U > > |
class | MotionTpl |
struct | traits< BiasZero > |
struct | BiasZero |
class | SE3Base |
The rigid transform aMb can be seen in two ways: More... | |
struct | traits< SE3Tpl< T, U > > |
class | SE3Tpl |
class | Symmetric3Tpl |
Typedefs | |
typedef ConstraintTpl < 1, double, 0 > | Constraint1d |
typedef ConstraintTpl < 3, double, 0 > | Constraint3d |
typedef ConstraintTpl < 6, double, 0 > | Constraint6d |
typedef ConstraintTpl < Eigen::Dynamic, double, 0 > | ConstraintXd |
typedef ForceSetTpl< double, 0 > | ForceSet |
typedef JointPrismatic< 0 > | JointPX |
typedef JointDataPrismatic< 0 > | JointDataPX |
typedef JointModelPrismatic< 0 > | JointModelPX |
typedef JointPrismatic< 1 > | JointPY |
typedef JointDataPrismatic< 1 > | JointDataPY |
typedef JointModelPrismatic< 1 > | JointModelPY |
typedef JointPrismatic< 2 > | JointPZ |
typedef JointDataPrismatic< 2 > | JointDataPZ |
typedef JointModelPrismatic< 2 > | JointModelPZ |
typedef JointRevolute< 0 > | JointRX |
typedef JointDataRevolute< 0 > | JointDataRX |
typedef JointModelRevolute< 0 > | JointModelRX |
typedef JointRevolute< 1 > | JointRY |
typedef JointDataRevolute< 1 > | JointDataRY |
typedef JointModelRevolute< 1 > | JointModelRY |
typedef JointRevolute< 2 > | JointRZ |
typedef JointDataRevolute< 2 > | JointDataRZ |
typedef JointModelRevolute< 2 > | JointModelRZ |
typedef JointSphericalZYXTpl < double, 0 > | JointSphericalZYX |
typedef boost::variant < JointModelRX, JointModelRY, JointModelRZ, JointModelRevoluteUnaligned, JointModelSpherical, JointModelSphericalZYX, JointModelPX, JointModelPY, JointModelPZ, JointModelPrismaticUnaligned, JointModelFreeFlyer, JointModelPlanar, JointModelTranslation, JointModelDense<-1,-1 > > | JointModelVariant |
typedef boost::variant < JointDataRX, JointDataRY, JointDataRZ, JointDataRevoluteUnaligned, JointDataSpherical, JointDataSphericalZYX, JointDataPX, JointDataPY, JointDataPZ, JointDataPrismaticUnaligned, JointDataFreeFlyer, JointDataPlanar, JointDataTranslation, JointDataDense<-1,-1 > > | JointDataVariant |
typedef std::vector < JointModelVariant > | JointModelVector |
typedef std::vector < JointDataVariant > | JointDataVector |
typedef ForceTpl< double, 0 > | Force |
typedef InertiaTpl< double, 0 > | Inertia |
typedef MotionTpl< double, 0 > | Motion |
typedef SE3Tpl< double, 0 > | SE3 |
typedef Symmetric3Tpl< double, 0 > | Symmetric3 |
Enumerations | |
enum | { MAX_JOINT_NV = 6 } |
enum | ModelFileExtensionType { UNKNOWN = 0, URDF, LUA } |
Supported model file extensions. More... | |
Functions | |
const Eigen::Vector3d & | centerOfMass (const Model &model, Data &data, const Eigen::VectorXd &q, const bool computeSubtreeComs=true, const bool updateKinematics=true) |
Computes the center of mass position of a given model according to a particular joint configuration. | |
void | centerOfMassAcceleration (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a, const bool computeSubtreeComs=true, const bool updateKinematics=true) |
Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration. | |
const Eigen::Matrix< double, 3, Eigen::Dynamic > & | jacobianCenterOfMass (const Model &model, Data &data, const Eigen::VectorXd &q, const bool computeSubtreeComs=true) |
Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration. | |
const Eigen::Vector3d & | getComFromCrba (const Model &model, Data &data) |
Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix). | |
const Eigen::Matrix< double, 3, Eigen::Dynamic > & | getJacobianComFromCrba (const Model &model, Data &data) |
Extracts both the jacobian of the center of mass (CoM) and the CoM position from the joint space inertia matrix (also called the mass matrix). | |
void | updateCollisionGeometry (const Model &model, Data &data, const GeometryModel &geom, GeometryData &data_geom, const Eigen::VectorXd &q, const bool computeGeometry=false) |
bool | computeCollisions (const Model &model, Data &data, const GeometryModel &model_geom, GeometryData &data_geom, const Eigen::VectorXd &q, const bool stopAtFirstCollision=false) |
bool | computeCollisions (GeometryData &data_geom, const bool stopAtFirstCollision=false) |
void | computeDistances (GeometryData &data_geom) |
void | computeDistances (const Model &model, Data &data, const GeometryModel &model_geom, GeometryData &data_geom, const Eigen::VectorXd &q) |
const Eigen::MatrixXd & | crba (const Model &model, Data &data, const Eigen::VectorXd &q) |
Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R. | |
double | kineticEnergy (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const bool update_kinematics=true) |
Computes the kinetic energy of the system. | |
double | potentialEnergy (const Model &model, Data &data, const Eigen::VectorXd &q, const bool update_kinematics=true) |
Computes the potential energy of the system, i.e. | |
const Data::Matrix6x & | computeJacobians (const Model &model, Data &data, const Eigen::VectorXd &q) |
Computes the full model jacobian, i.e. | |
template<bool localFrame> | |
void | getJacobian (const Model &model, const Data &data, Model::Index jointId, Eigen::MatrixXd &J) |
Computes the jacobian of a specific joint frame expressed either in the world frame or in the local frame of the joint. | |
const Data::Matrix6x & | jacobian (const Model &model, Data &data, const Eigen::VectorXd &q, const Model::Index &jointId) |
Computes the jacobian of a specific joint frame expressed in the local frame of the joint. | |
void | jointLimits (const Model &model, Data &data, const Eigen::VectorXd &q) |
void | emptyForwardPass (const Model &model, Data &data) |
Browse through the model tree structure with an empty step. | |
void | forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q) |
void | forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v) |
void | forwardKinematics (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a) |
const Eigen::VectorXd & | nonLinearEffects (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v) |
const Eigen::VectorXd & | rnea (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v, const Eigen::VectorXd &a) |
std::ostream & | operator<< (std::ostream &os, const GeometryModel &model_geom) |
std::ostream & | operator<< (std::ostream &os, const GeometryData &data_geom) |
template<typename D > | |
Motion | operator* (const ConstraintIdentity &, const Eigen::MatrixBase< D > &v) |
Inertia::Matrix6 | operator* (const Inertia &Y, const ConstraintIdentity &) |
template<typename D > | |
const Eigen::MatrixBase< D > & | operator* (const ConstraintIdentity::TransposeConst &, const Eigen::MatrixBase< D > &F) |
const MotionPlanar | operator+ (const MotionPlanar &m, const BiasZero &) |
Motion | operator+ (const MotionPlanar &m1, const Motion &m2) |
template<typename D > | |
Motion | operator* (const ConstraintPlanar &, const Eigen::MatrixBase< D > &v) |
Motion | operator^ (const Motion &m1, const MotionPlanar &m2) |
Eigen::Matrix < Inertia::Scalar_t, 6, 3 > | operator* (const Inertia &Y, const ConstraintPlanar &) |
const MotionPrismaticUnaligned & | operator+ (const MotionPrismaticUnaligned &m, const BiasZero &) |
Motion | operator+ (const MotionPrismaticUnaligned &m1, const Motion &m2) |
Motion | operator^ (const Motion &m1, const MotionPrismaticUnaligned &m2) |
Eigen::Matrix< double, 6, 1 > | operator* (const Inertia &Y, const ConstraintPrismaticUnaligned &cpu) |
template<int axis> | |
const MotionPrismatic< axis > & | operator+ (const MotionPrismatic< axis > &m, const BiasZero &) |
template<int axis> | |
Motion | operator+ (const MotionPrismatic< axis > &m1, const Motion &m2) |
Motion | operator^ (const Motion &m1, const MotionPrismatic< 0 > &m2) |
Motion | operator^ (const Motion &m1, const MotionPrismatic< 1 > &m2) |
Motion | operator^ (const Motion &m1, const MotionPrismatic< 2 > &m2) |
Eigen::Matrix< double, 6, 1 > | operator* (const Inertia &Y, const ConstraintPrismatic< 0 > &) |
Eigen::Matrix< double, 6, 1 > | operator* (const Inertia &Y, const ConstraintPrismatic< 1 > &) |
Eigen::Matrix< double, 6, 1 > | operator* (const Inertia &Y, const ConstraintPrismatic< 2 > &) |
const MotionRevoluteUnaligned & | operator+ (const MotionRevoluteUnaligned &m, const BiasZero &) |
Motion | operator+ (const MotionRevoluteUnaligned &m1, const Motion &m2) |
Motion | operator^ (const Motion &m1, const MotionRevoluteUnaligned &m2) |
Eigen::Matrix< double, 6, 1 > | operator* (const Inertia &Y, const ConstraintRevoluteUnaligned &cru) |
template<int axis> | |
const MotionRevolute< axis > & | operator+ (const MotionRevolute< axis > &m, const BiasZero &) |
template<int axis> | |
Motion | operator+ (const MotionRevolute< axis > &m1, const Motion &m2) |
Motion | operator^ (const Motion &m1, const MotionRevolute< 0 > &m2) |
Motion | operator^ (const Motion &m1, const MotionRevolute< 1 > &m2) |
Motion | operator^ (const Motion &m1, const MotionRevolute< 2 > &m2) |
Eigen::Matrix< double, 6, 1 > | operator* (const Inertia &Y, const ConstraintRevolute< 0 > &) |
Eigen::Matrix< double, 6, 1 > | operator* (const Inertia &Y, const ConstraintRevolute< 1 > &) |
Eigen::Matrix< double, 6, 1 > | operator* (const Inertia &Y, const ConstraintRevolute< 2 > &) |
Motion | operator^ (const Motion &m1, const JointSphericalZYX::MotionSpherical &m2) |
template<typename _Scalar , int _Options> | |
const Eigen::CoeffBasedProduct < Eigen::Matrix< _Scalar, 6, 3, _Options > , Eigen::Matrix< _Scalar, 3, 3, _Options > , 6 >::PlainObject | operator* (const InertiaTpl< _Scalar, _Options > &Y, const typename JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace &S) |
const MotionSpherical | operator+ (const MotionSpherical &m, const BiasZero &) |
Motion | operator+ (const MotionSpherical &m1, const Motion &m2) |
template<typename D > | |
Motion | operator* (const ConstraintRotationalSubspace &, const Eigen::MatrixBase< D > &v) |
Motion | operator^ (const Motion &m1, const MotionSpherical &m2) |
Eigen::Matrix< double, 6, 3 > | operator* (const Inertia &Y, const ConstraintRotationalSubspace &) |
const MotionTranslation | operator+ (const MotionTranslation &m, const BiasZero &) |
Motion | operator+ (const MotionTranslation &m1, const Motion &m2) |
template<typename D > | |
Motion | operator* (const ConstraintTranslationSubspace &, const Eigen::MatrixBase< D > &v) |
Motion | operator^ (const Motion &m1, const MotionTranslation &m2) |
Eigen::Matrix< double, 6, 3 > | operator* (const Inertia &Y, const ConstraintTranslationSubspace &) |
int | nv (const JointModelVariant &jmodel) |
int | nq (const JointModelVariant &jmodel) |
int | idx_q (const JointModelVariant &jmodel) |
int | idx_v (const JointModelVariant &jmodel) |
Eigen::MatrixXd | lowerPosLimit (const JointModelVariant &jmodel) |
Eigen::MatrixXd | upperPosLimit (const JointModelVariant &jmodel) |
Eigen::MatrixXd | maxEffortLimit (const JointModelVariant &jmodel) |
Eigen::MatrixXd | maxVelocityLimit (const JointModelVariant &jmodel) |
std::ostream & | operator<< (std::ostream &os, const Model &model) |
std::string | random (const int len) |
ModelFileExtensionType | checkModelFileExtension (const std::string &filename) |
Extract the type of the given model file according to its extension. | |
void | computeAllTerms (const Model &model, Data &data, const Eigen::VectorXd &q, const Eigen::VectorXd &v) |
template<typename D > | |
Eigen::Matrix< typename D::Scalar, 3, 3, D::Options > | exp3 (const Eigen::MatrixBase< D > &v) |
Exp: so3 -> SO3. | |
template<typename D > | |
Eigen::Matrix< typename D::Scalar, 3, 1, D::Options > | log3 (const Eigen::MatrixBase< D > &R) |
Log: SO3 -> so3. | |
template<typename _Scalar , int _Options> | |
SE3Tpl< _Scalar, _Options > | exp6 (const MotionTpl< _Scalar, _Options > &nu) |
Exp: se3 -> SE3. | |
template<typename D > | |
SE3Tpl< typename D::Scalar, D::Options > | exp6 (const Eigen::MatrixBase< D > &v) |
Exp: se3 -> SE3. | |
template<typename _Scalar , int _Options> | |
MotionTpl< _Scalar, _Options > | log6 (const SE3Tpl< _Scalar, _Options > &M) |
Log: SE3 -> se3. | |
template<typename D > | |
MotionTpl< typename D::Scalar, D::Options > | log6 (const Eigen::MatrixBase< D > &M) |
Log: SE3 -> se3. | |
fcl::Matrix3f | toFclMatrix3f (const Eigen::Matrix3d &mat) |
Eigen::Matrix3d | toMatrix3d (const fcl::Matrix3f &mat) |
fcl::Vec3f | toFclVec3f (const Eigen::Vector3d &vec) |
Eigen::Vector3d | toVector3d (const fcl::Vec3f &vec) |
fcl::Transform3f | toFclTransform3f (const se3::SE3 &m) |
se3::SE3 | toPinocchioSE3 (const fcl::Transform3f &tf) |
template<typename S , int O> | |
MotionTpl< S, O > | operator^ (const MotionTpl< S, O > &m1, const MotionTpl< S, O > &m2) |
template<typename S , int O> | |
ForceTpl< S, O > | operator^ (const MotionTpl< S, O > &m, const ForceTpl< S, O > &f) |
const Motion & | operator+ (const Motion &v, const BiasZero &) |
const Motion & | operator+ (const BiasZero &, const Motion &v) |
template<typename D > | |
Eigen::Matrix< typename D::Scalar, 3, 3, D::Options > | skew (const Eigen::MatrixBase< D > &v) |
Computes the skew representation of a given 3D vector, i.e. | |
template<typename D > | |
Eigen::Matrix< typename D::Scalar, 3, 1, D::Options > | unSkew (const Eigen::MatrixBase< D > &M) |
Inverse operation related to skew. | |
template<typename D > | |
Eigen::Matrix< typename D::Scalar, 3, 3, D::Options > | alphaSkew (const typename D::Scalar s, const Eigen::MatrixBase< D > &v) |
template<typename V , typename M > | |
Eigen::Matrix< typename M::Scalar, 3, M::ColsAtCompileTime, M::Options > | cross (const Eigen::MatrixBase< V > &v, const Eigen::MatrixBase< M > &m) |
typedef ConstraintTpl<1,double,0> se3::Constraint1d |
typedef ConstraintTpl<3,double,0> se3::Constraint3d |
typedef ConstraintTpl<6,double,0> se3::Constraint6d |
typedef ConstraintTpl<Eigen::Dynamic,double,0> se3::ConstraintXd |
typedef ForceTpl<double,0> se3::Force |
typedef ForceSetTpl<double,0> se3::ForceSet |
typedef InertiaTpl<double,0> se3::Inertia |
typedef JointDataPrismatic<0> se3::JointDataPX |
typedef JointDataPrismatic<1> se3::JointDataPY |
typedef JointDataPrismatic<2> se3::JointDataPZ |
typedef JointDataRevolute<0> se3::JointDataRX |
typedef JointDataRevolute<1> se3::JointDataRY |
typedef JointDataRevolute<2> se3::JointDataRZ |
typedef std::vector<JointDataVariant> se3::JointDataVector |
typedef JointModelPrismatic<0> se3::JointModelPX |
typedef JointModelPrismatic<1> se3::JointModelPY |
typedef JointModelPrismatic<2> se3::JointModelPZ |
typedef JointModelRevolute<0> se3::JointModelRX |
typedef JointModelRevolute<1> se3::JointModelRY |
typedef JointModelRevolute<2> se3::JointModelRZ |
typedef std::vector<JointModelVariant> se3::JointModelVector |
typedef JointPrismatic<0> se3::JointPX |
typedef JointPrismatic<1> se3::JointPY |
typedef JointPrismatic<2> se3::JointPZ |
typedef JointRevolute<0> se3::JointRX |
typedef JointRevolute<1> se3::JointRY |
typedef JointRevolute<2> se3::JointRZ |
typedef JointSphericalZYXTpl<double,0> se3::JointSphericalZYX |
typedef MotionTpl<double,0> se3::Motion |
typedef Symmetric3Tpl<double,0> se3::Symmetric3 |
Eigen::Matrix<typename D::Scalar,3,3,D::Options> se3::alphaSkew | ( | const typename D::Scalar | s, |
const Eigen::MatrixBase< D > & | v | ||
) | [inline] |
Referenced by exp6(), log6(), and operator*().
const Eigen::Vector3d & se3::centerOfMass | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q, | ||
const bool | computeSubtreeComs = true , |
||
const bool | updateKinematics = true |
||
) | [inline] |
Computes the center of mass position of a given model according to a particular joint configuration.
The result is accessible throw data.com[0] for the full body com and data.com[i] for the subtree supported by joint i (expressed in the joint i frame).
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | q | The joint configuration vector (dim model.nq). |
[in] | computeSubtreeComs | If true, the algorithm computes also the center of mass of the subtrees. |
[in] | updateKinematics | If true, the algorithm updates first the geometry of the tree. Otherwise, it uses the current kinematics stored in data. |
References se3::Data::com, forwardKinematics(), se3::Model::inertias, se3::Data::liMi, se3::Data::mass, se3::Model::nbody, se3::Model::parents, se3::SE3Base< Derived >::rotation(), and se3::SE3Base< Derived >::translation().
Referenced by se3::python::AlgorithmsPythonVisitor::com_proxy().
void se3::centerOfMassAcceleration | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q, | ||
const Eigen::VectorXd & | v, | ||
const Eigen::VectorXd & | a, | ||
const bool | computeSubtreeComs = true , |
||
const bool | updateKinematics = true |
||
) | [inline] |
Computes the center of mass position, velocity and acceleration of a given model according to a particular joint configuration, velocity and acceleration.
The result is accessible throw data.com[0], data.vcom[0], data.acom[0] for the full body com position, velocity and acceleation. And data.com[i], data.vcom[i] and data.acom[i] for the subtree supported by joint i (expressed in the joint i frame).
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | q | The joint configuration vector (dim model.nq). |
[in] | v | The joint velocity vector (dim model.nv). |
[in] | a | The joint acceleration vector (dim model.nv). |
[in] | computeSubtreeComs | If true, the algorithm computes also the center of mass of the subtrees. |
[in] | updateKinematics | If true, the algorithm updates first the second order kinematics of the tree. Otherwise, it uses the current kinematics stored in data. |
References se3::Data::a, se3::Data::acom, se3::MotionBase< Derived >::angular(), se3::Data::com, forwardKinematics(), se3::Model::inertias, se3::Data::liMi, se3::MotionBase< Derived >::linear(), se3::Data::mass, se3::Model::nbody, se3::Model::parents, se3::SE3Base< Derived >::rotation(), se3::SE3Base< Derived >::translation(), se3::Data::v, and se3::Data::vcom.
Referenced by se3::python::AlgorithmsPythonVisitor::com_acceleration_proxy(), and computeAllTerms().
ModelFileExtensionType se3::checkModelFileExtension | ( | const std::string & | filename | ) |
void se3::computeAllTerms | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q, | ||
const Eigen::VectorXd & | v | ||
) | [inline] |
References se3::Data::a, se3::Data::a_gf, centerOfMassAcceleration(), getJacobianComFromCrba(), se3::Model::gravity, se3::Model::joints, se3::Data::joints, se3::Model::nbody, se3::fusion::JointVisitor< CATForwardStep >::run(), and se3::Data::v.
Referenced by se3::python::AlgorithmsPythonVisitor::computeAllTerms_proxy().
bool se3::computeCollisions | ( | const Model & | model, |
Data & | data, | ||
const GeometryModel & | model_geom, | ||
GeometryData & | data_geom, | ||
const Eigen::VectorXd & | q, | ||
const bool | stopAtFirstCollision = false |
||
) | [inline] |
References updateCollisionGeometry().
bool se3::computeCollisions | ( | GeometryData & | data_geom, |
const bool | stopAtFirstCollision = false |
||
) | [inline] |
void se3::computeDistances | ( | GeometryData & | data_geom | ) | [inline] |
References se3::GeometryData::collision_pairs, se3::GeometryData::computeDistance(), and se3::GeometryData::distances.
Referenced by computeDistances().
void se3::computeDistances | ( | const Model & | model, |
Data & | data, | ||
const GeometryModel & | model_geom, | ||
GeometryData & | data_geom, | ||
const Eigen::VectorXd & | q | ||
) | [inline] |
References computeDistances(), and updateCollisionGeometry().
const Data::Matrix6x & se3::computeJacobians | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q | ||
) | [inline] |
Computes the full model jacobian, i.e.
the stack of all motion subspace expressed in the world frame. The result is accessible throw data.J.
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | q | The joint configuration vector (dim model.nq). |
References se3::Data::J, se3::Model::joints, se3::Data::joints, se3::Model::nbody, and se3::fusion::JointVisitor< JacobiansForwardStep >::run().
Referenced by se3::python::AlgorithmsPythonVisitor::compute_jacobians_proxy(), and se3::python::AlgorithmsPythonVisitor::jacobian_proxy().
const Eigen::MatrixXd & se3::crba | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q | ||
) | [inline] |
Computes the upper triangular part of the joint space inertia matrix M by using the Composite Rigid Body Algorithm (Chapter 6, Rigid-Body Dynamics Algorithms, R.
Featherstone, 2008). The result is accessible throw data.M.
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | q | The joint configuration vector (dim model.nq). |
References se3::Model::joints, se3::Data::joints, se3::Data::M, se3::Model::nbody, and se3::fusion::JointVisitor< CrbaForwardStep >::run().
Referenced by se3::python::AlgorithmsPythonVisitor::crba_proxy().
Eigen::Matrix<typename M::Scalar,3,M::ColsAtCompileTime,M::Options> se3::cross | ( | const Eigen::MatrixBase< V > & | v, |
const Eigen::MatrixBase< M > & | m | ||
) | [inline] |
Browse through the model tree structure with an empty step.
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
References se3::Model::joints, se3::Data::joints, se3::Model::nbody, and se3::fusion::JointVisitor< emptyForwardStep >::run().
Eigen::Matrix<typename D::Scalar,3,3,D::Options> se3::exp3 | ( | const Eigen::MatrixBase< D > & | v | ) |
Exp: so3 -> SO3.
Return the integral of the input angular velocity during time 1.
[in] | v | The angular velocity vector. |
References nv().
Referenced by se3::python::ExplogPythonVisitor::exp3_proxy(), and exp6().
SE3Tpl<_Scalar, _Options> se3::exp6 | ( | const MotionTpl< _Scalar, _Options > & | nu | ) |
Exp: se3 -> SE3.
Return the integral of the input twist during time 1.
[in] | nu | The input twist. |
References alphaSkew(), se3::MotionBase< MotionTpl< _Scalar, _Options > >::angular(), exp3(), and se3::MotionBase< MotionTpl< _Scalar, _Options > >::linear().
Referenced by exp6(), se3::python::ExplogPythonVisitor::exp6FromMotion_proxy(), and se3::python::ExplogPythonVisitor::exp6FromVector_proxy().
SE3Tpl<typename D::Scalar, D::Options> se3::exp6 | ( | const Eigen::MatrixBase< D > & | v | ) |
void se3::forwardKinematics | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q | ||
) | [inline] |
References se3::Model::joints, se3::Data::joints, se3::Model::nbody, and se3::fusion::JointVisitor< ForwardKinematicZeroStep >::run().
Referenced by centerOfMass(), centerOfMassAcceleration(), se3::python::AlgorithmsPythonVisitor::fk_0_proxy(), se3::python::AlgorithmsPythonVisitor::fk_1_proxy(), se3::python::AlgorithmsPythonVisitor::fk_2_proxy(), kineticEnergy(), potentialEnergy(), and updateCollisionGeometry().
Extracts the center of mass position from the joint space inertia matrix (also called the mass matrix).
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
References se3::Data::com, se3::Data::liMi, and se3::Data::Ycrb.
void se3::getJacobian | ( | const Model & | model, |
const Data & | data, | ||
Model::Index | jointId, | ||
Eigen::MatrixXd & | J | ||
) |
Computes the jacobian of a specific joint frame expressed either in the world frame or in the local frame of the joint.
This jacobian is extracted from data.J. Please first run once se3::computeJacobians before.
[in] | localFrame | Expressed the jacobian in the local frame or world frame coordinates system. |
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | jointId | The id of the joint. |
[in] | J | A reference on the jacobian matrix where the results will be stored in (dim 6 x model.nv). |
References idx_v(), se3::Data::J, se3::Model::joints, nv(), se3::Data::oMi, and se3::Data::parents_fromRow.
const Eigen::Matrix< double, 3, Eigen::Dynamic > & se3::getJacobianComFromCrba | ( | const Model & | model, |
Data & | data | ||
) | [inline] |
Extracts both the jacobian of the center of mass (CoM) and the CoM position from the joint space inertia matrix (also called the mass matrix).
The results are accessible throw data.Jcom and data.com[0] and are both expressed in the world frame.
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
References se3::Data::Jcom, se3::Data::liMi, se3::Data::M, se3::Model::nv, and se3::SE3Base< Derived >::rotation().
Referenced by computeAllTerms().
int se3::idx_q | ( | const JointModelVariant & | jmodel | ) | [inline] |
References se3::Joint_idx_q::run().
int se3::idx_v | ( | const JointModelVariant & | jmodel | ) | [inline] |
References se3::Joint_idx_v::run().
Referenced by getJacobian().
const Data::Matrix6x & se3::jacobian | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q, | ||
const Model::Index & | jointId | ||
) | [inline] |
Computes the jacobian of a specific joint frame expressed in the local frame of the joint.
The result is stored in data.J.
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | q | The joint configuration vector (dim model.nq). |
[in] | jointId | The id of the joint. |
References se3::Data::iMf, se3::Data::J, se3::Model::joints, se3::Data::joints, se3::Model::parents, and se3::fusion::JointVisitor< JacobiansForwardStep >::run().
const Eigen::Matrix< double, 3, Eigen::Dynamic > & se3::jacobianCenterOfMass | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q, | ||
const bool | computeSubtreeComs = true |
||
) | [inline] |
Computes both the jacobian and the the center of mass position of a given model according to a particular joint configuration.
The results are accessible throw data.Jcom and data.com[0] and are both expressed in the world frame. And data.com[i] gives the center of mass of the subtree supported by joint i (expressed in the joint i frame).
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | q | The joint configuration vector (dim model.nq). |
[in] | computeSubtreeComs | If true, the algorithm computes also the center of mass of the subtrees. |
References se3::Data::com, se3::Data::Jcom, se3::Model::joints, se3::Data::joints, se3::Data::mass, se3::Model::nbody, and se3::fusion::JointVisitor< JacobianCenterOfMassForwardStep >::run().
Referenced by se3::python::AlgorithmsPythonVisitor::Jcom_proxy().
double se3::kineticEnergy | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q, | ||
const Eigen::VectorXd & | v, | ||
const bool | update_kinematics = true |
||
) | [inline] |
Computes the kinetic energy of the system.
The result is accessible throw data.kinetic_energy.
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | q | The joint configuration vector (dim model.nq). |
[in] | v | The joint velocity vector (dim model.nv). |
References forwardKinematics(), se3::Model::inertias, se3::Data::kinetic_energy, se3::Model::nbody, and se3::Data::v.
Referenced by se3::python::AlgorithmsPythonVisitor::kineticEnergy_proxy().
Eigen::Matrix<typename D::Scalar,3,1,D::Options> se3::log3 | ( | const Eigen::MatrixBase< D > & | R | ) |
Log: SO3 -> so3.
Pseudo-inverse of log from SO3 -> { v so3, ||v|| < 2pi }.
[in] | R | The rotation matrix. |
Referenced by se3::python::ExplogPythonVisitor::log3_proxy(), and log6().
MotionTpl<_Scalar,_Options> se3::log6 | ( | const SE3Tpl< _Scalar, _Options > & | M | ) |
Log: SE3 -> se3.
Pseudo-inverse of exp from SE3 -> { v,w se3, ||w|| < 2pi }.
[in] | M | The rigid transformation. |
References alphaSkew(), log3(), se3::SE3Base< SE3Tpl< _Scalar, _Options > >::rotation(), and se3::SE3Base< SE3Tpl< _Scalar, _Options > >::translation().
Referenced by log6(), se3::python::ExplogPythonVisitor::log6FromMatrix_proxy(), and se3::python::ExplogPythonVisitor::log6FromSE3_proxy().
MotionTpl<typename D::Scalar,D::Options> se3::log6 | ( | const Eigen::MatrixBase< D > & | M | ) |
Eigen::MatrixXd se3::lowerPosLimit | ( | const JointModelVariant & | jmodel | ) | [inline] |
References se3::Joint_lowerPosLimit::run().
Eigen::MatrixXd se3::maxEffortLimit | ( | const JointModelVariant & | jmodel | ) | [inline] |
References se3::Joint_maxEffortLimit::run().
Eigen::MatrixXd se3::maxVelocityLimit | ( | const JointModelVariant & | jmodel | ) | [inline] |
References se3::Joint_maxVelocityLimit::run().
int se3::nq | ( | const JointModelVariant & | jmodel | ) | [inline] |
References se3::Joint_nq::run().
int se3::nv | ( | const JointModelVariant & | jmodel | ) | [inline] |
References se3::Joint_nv::run().
Referenced by exp3(), and getJacobian().
Motion se3::operator* | ( | const ConstraintIdentity & | , |
const Eigen::MatrixBase< D > & | v | ||
) |
Inertia::Matrix6 se3::operator* | ( | const Inertia & | Y, |
const ConstraintIdentity & | |||
) | [inline] |
References se3::InertiaBase< Derived >::matrix().
const Eigen::MatrixBase<D>& se3::operator* | ( | const ConstraintIdentity::TransposeConst & | , |
const Eigen::MatrixBase< D > & | F | ||
) |
Motion se3::operator* | ( | const ConstraintRotationalSubspace & | , |
const Eigen::MatrixBase< D > & | v | ||
) |
Motion se3::operator* | ( | const ConstraintTranslationSubspace & | , |
const Eigen::MatrixBase< D > & | v | ||
) |
Eigen::Matrix<double, 6, 3> se3::operator* | ( | const Inertia & | Y, |
const ConstraintRotationalSubspace & | |||
) | [inline] |
Eigen::Matrix<double, 6, 3> se3::operator* | ( | const Inertia & | Y, |
const ConstraintTranslationSubspace & | |||
) | [inline] |
Motion se3::operator* | ( | const ConstraintPlanar & | , |
const Eigen::MatrixBase< D > & | v | ||
) |
Eigen::Matrix<double,6,1> se3::operator* | ( | const Inertia & | Y, |
const ConstraintPrismaticUnaligned & | cpu | ||
) | [inline] |
const Eigen::CoeffBasedProduct< Eigen::Matrix < _Scalar, 6, 3, _Options >, Eigen::Matrix < _Scalar, 3, 3, _Options >, 6 >::PlainObject se3::operator* | ( | const InertiaTpl< _Scalar, _Options > & | Y, |
const typename JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace & | S | ||
) |
Eigen::Matrix<double,6,1> se3::operator* | ( | const Inertia & | Y, |
const ConstraintRevoluteUnaligned & | cru | ||
) | [inline] |
Eigen::Matrix<Inertia::Scalar_t, 6, 3> se3::operator* | ( | const Inertia & | Y, |
const ConstraintPlanar & | |||
) | [inline] |
Eigen::Matrix<double,6,1> se3::operator* | ( | const Inertia & | Y, |
const ConstraintPrismatic< 0 > & | |||
) | [inline] |
Eigen::Matrix<double,6,1> se3::operator* | ( | const Inertia & | Y, |
const ConstraintPrismatic< 1 > & | |||
) | [inline] |
Eigen::Matrix<double,6,1> se3::operator* | ( | const Inertia & | Y, |
const ConstraintRevolute< 0 > & | |||
) | [inline] |
Eigen::Matrix<double,6,1> se3::operator* | ( | const Inertia & | Y, |
const ConstraintPrismatic< 2 > & | |||
) | [inline] |
Eigen::Matrix<double,6,1> se3::operator* | ( | const Inertia & | Y, |
const ConstraintRevolute< 1 > & | |||
) | [inline] |
Eigen::Matrix<double,6,1> se3::operator* | ( | const Inertia & | Y, |
const ConstraintRevolute< 2 > & | |||
) | [inline] |
const MotionPrismaticUnaligned& se3::operator+ | ( | const MotionPrismaticUnaligned & | m, |
const BiasZero & | |||
) | [inline] |
Motion se3::operator+ | ( | const MotionPrismaticUnaligned & | m1, |
const Motion & | m2 | ||
) | [inline] |
const MotionRevoluteUnaligned& se3::operator+ | ( | const MotionRevoluteUnaligned & | m, |
const BiasZero & | |||
) | [inline] |
const MotionPlanar se3::operator+ | ( | const MotionPlanar & | m, |
const BiasZero & | |||
) | [inline] |
const MotionSpherical se3::operator+ | ( | const MotionSpherical & | m, |
const BiasZero & | |||
) | [inline] |
Motion se3::operator+ | ( | const MotionRevoluteUnaligned & | m1, |
const Motion & | m2 | ||
) | [inline] |
Motion se3::operator+ | ( | const MotionSpherical & | m1, |
const Motion & | m2 | ||
) | [inline] |
Motion se3::operator+ | ( | const MotionPlanar & | m1, |
const Motion & | m2 | ||
) | [inline] |
const MotionTranslation se3::operator+ | ( | const MotionTranslation & | m, |
const BiasZero & | |||
) | [inline] |
Motion se3::operator+ | ( | const MotionTranslation & | m1, |
const Motion & | m2 | ||
) | [inline] |
const MotionPrismatic<axis>& se3::operator+ | ( | const MotionPrismatic< axis > & | m, |
const BiasZero & | |||
) |
const MotionRevolute<axis>& se3::operator+ | ( | const MotionRevolute< axis > & | m, |
const BiasZero & | |||
) |
Motion se3::operator+ | ( | const MotionPrismatic< axis > & | m1, |
const Motion & | m2 | ||
) |
Motion se3::operator+ | ( | const MotionRevolute< axis > & | m1, |
const Motion & | m2 | ||
) |
const Motion& se3::operator+ | ( | const Motion & | v, |
const BiasZero & | |||
) | [inline] |
const Motion& se3::operator+ | ( | const BiasZero & | , |
const Motion & | v | ||
) | [inline] |
std::ostream& se3::operator<< | ( | std::ostream & | os, |
const Model & | model | ||
) | [inline] |
References se3::Model::hasVisual, se3::Model::names, se3::Model::nbody, se3::Model::nq, se3::Model::nv, and se3::Model::parents.
std::ostream& se3::operator<< | ( | std::ostream & | os, |
const GeometryModel & | model_geom | ||
) | [inline] |
std::ostream& se3::operator<< | ( | std::ostream & | os, |
const GeometryData & | data_geom | ||
) | [inline] |
References se3::GeometryData::model_geom, se3::GeometryModel::ngeom, and se3::GeometryData::oMg.
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionSpherical & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionTranslation & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const JointSphericalZYX::MotionSpherical & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionPrismaticUnaligned & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionRevoluteUnaligned & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionPlanar & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionRevolute< 0 > & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionPrismatic< 0 > & | m2 | ||
) | [inline] |
References se3::MotionBase< Derived >::angular(), and se3::MotionPrismatic< axis >::v.
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionRevolute< 1 > & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionPrismatic< 1 > & | m2 | ||
) | [inline] |
References se3::MotionBase< Derived >::angular(), and se3::MotionPrismatic< axis >::v.
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionRevolute< 2 > & | m2 | ||
) | [inline] |
Motion se3::operator^ | ( | const Motion & | m1, |
const MotionPrismatic< 2 > & | m2 | ||
) | [inline] |
References se3::MotionBase< Derived >::angular(), and se3::MotionPrismatic< axis >::v.
MotionTpl<S,O> se3::operator^ | ( | const MotionTpl< S, O > & | m1, |
const MotionTpl< S, O > & | m2 | ||
) |
References se3::MotionTpl< _Scalar, _Options >::cross().
ForceTpl<S,O> se3::operator^ | ( | const MotionTpl< S, O > & | m, |
const ForceTpl< S, O > & | f | ||
) |
References se3::MotionTpl< _Scalar, _Options >::cross().
double se3::potentialEnergy | ( | const Model & | model, |
Data & | data, | ||
const Eigen::VectorXd & | q, | ||
const bool | update_kinematics = true |
||
) | [inline] |
Computes the potential energy of the system, i.e.
the potential energy linked to the gravity field. The result is accessible throw data.potential_energy.
[in] | model | The model structure of the rigid body system. |
[in] | data | The data structure of the rigid body system. |
[in] | q | The joint configuration vector (dim model.nq). |
References forwardKinematics(), se3::Model::gravity, se3::Model::inertias, se3::MotionBase< Derived >::linear(), se3::Model::nbody, se3::Data::oMi, and se3::Data::potential_energy.
Referenced by se3::python::AlgorithmsPythonVisitor::potentialEnergy_proxy().
std::string se3::random | ( | const int | len | ) | [inline] |
Referenced by se3::Model::addBody(), se3::Model::addFixedBody(), and se3::GeometryModel::addGeomObject().
Eigen::Matrix<typename D::Scalar,3,3,D::Options> se3::skew | ( | const Eigen::MatrixBase< D > & | v | ) | [inline] |
Computes the skew representation of a given 3D vector, i.e.
the antisymmetric matrix representation of the cross product operator.
[in] | v | A vector of dimension 3. |
Referenced by se3::JacobianCenterOfMassBackwardStep::algo(), se3::InertiaTpl< _Scalar, _Options >::matrix_impl(), se3::ForceSetTpl< _Scalar, _Options >::se3Action(), se3::ForceSetTpl< _Scalar, _Options >::Block::se3Action(), se3::ConstraintRotationalSubspace::se3Action(), se3::JointSphericalZYXTpl< _Scalar, _Options >::ConstraintRotationalSubspace::se3Action(), se3::ConstraintPlanar::se3Action(), se3::ForceSetTpl< _Scalar, _Options >::se3ActionInverse(), se3::ForceSetTpl< _Scalar, _Options >::Block::se3ActionInverse(), se3::MotionTpl< Scalar, Options >::toActionMatrix_impl(), and se3::SE3Tpl< _Scalar, _Options >::toActionMatrix_impl().
fcl::Matrix3f se3::toFclMatrix3f | ( | const Eigen::Matrix3d & | mat | ) | [inline] |
Referenced by toFclTransform3f().
fcl::Transform3f se3::toFclTransform3f | ( | const se3::SE3 & | m | ) |
References se3::SE3Base< Derived >::rotation(), toFclMatrix3f(), toFclVec3f(), and se3::SE3Base< Derived >::translation().
Referenced by updateCollisionGeometry().
fcl::Vec3f se3::toFclVec3f | ( | const Eigen::Vector3d & | vec | ) | [inline] |
Referenced by toFclTransform3f().
Eigen::Matrix3d se3::toMatrix3d | ( | const fcl::Matrix3f & | mat | ) | [inline] |
Referenced by toPinocchioSE3().
se3::SE3 se3::toPinocchioSE3 | ( | const fcl::Transform3f & | tf | ) |
References toMatrix3d(), and toVector3d().
Eigen::Vector3d se3::toVector3d | ( | const fcl::Vec3f & | vec | ) | [inline] |
Eigen::Matrix<typename D::Scalar,3,1,D::Options> se3::unSkew | ( | const Eigen::MatrixBase< D > & | M | ) | [inline] |
Inverse operation related to skew.
From a given skew-symmetric matrix M of dimension 3x3, it extracts the supporting vector, i.e. the entries of M.
[in] | M | A 3x3 matrix. |
Referenced by se3::InertiaTpl< _Scalar, _Options >::InertiaTpl().
void se3::updateCollisionGeometry | ( | const Model & | model, |
Data & | data, | ||
const GeometryModel & | geom, | ||
GeometryData & | data_geom, | ||
const Eigen::VectorXd & | q, | ||
const bool | computeGeometry = false |
||
) | [inline] |
References forwardKinematics(), se3::GeometryModel::geom_parents, se3::GeometryModel::geometryPlacement, se3::GeometryData::model_geom, se3::GeometryModel::ngeom, se3::GeometryData::oMg, se3::GeometryData::oMg_fcl, se3::Data::oMi, and toFclTransform3f().
Referenced by computeCollisions(), and computeDistances().
Eigen::MatrixXd se3::upperPosLimit | ( | const JointModelVariant & | jmodel | ) | [inline] |
References se3::Joint_upperPosLimit::run().