Algorithms.hh File Reference
#include <RNEASpatial.h>
Include dependency graph for Algorithms.hh:
jrlDelegate::dynamicRobot::inertiaMatrix
virtual const matrixNxP & inertiaMatrix() const
Get the inertia matrix of the robot according wrt .
Definition: dynamicrobot.hh:620
CimplDynamicRobot
jrlDelegate::dynamicRobot CimplDynamicRobot
Definition: robotdynamicsimpl.hh:41
foot.hh
dynamicsJRLJapan::Geometry::IndexedFaceSet::convex
bool convex
Definition: geometricdata.hh:48
jrlDelegate::dynamicRobot::lowerVelocityBoundDof
virtual double lowerVelocityBoundDof(unsigned int inRankInConfiguration)
Get the lower velocity bound for ith dof.
Definition: dynamicrobot.hh:194
DYN_JRL_JAPAN_EXPORT
#define DYN_JRL_JAPAN_EXPORT
Definition: dll.hh:37
CjrlJoint
jrlDelegate::humanoidDynamicRobot::humanoidDynamicRobot
humanoidDynamicRobot(humanoidDynamicRobot *inHDRNA)
Definition: humanoiddynamicrobot.hh:61
jrlDelegate::dynamicRobot::jointsBetween
virtual std::vector< CjrlJoint * > jointsBetween(const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint) const
Get the chain of joints between two joints.
Definition: dynamicrobot.hh:133
CjrlDynamicRobot::currentJointTorques
virtual const vectorN & currentJointTorques() const=0
CimplObjectFactory
dynamicsJRLJapan::ObjectFactory CimplObjectFactory
Definition: robotdynamicsimpl.hh:50
dynamicsJRLJapan::Geometry::Texture::FileName
std::string FileName
Definition: geometricdata.hh:79
jrlDelegate::dynamicRobot::setDynamicRobot
void setDynamicRobot(CjrlDynamicRobot *inDynamicRobot)
Definition: dynamicrobot.hh:51
jrlDelegate::humanoidDynamicRobot::setHandClench
virtual bool setHandClench(CjrlHand *inHand, double inClenchingValue)
Set the hand clench value.
Definition: humanoiddynamicrobot.hh:216
jrlDelegate::dynamicRobot::upperBoundDof
virtual double upperBoundDof(unsigned int inRankInConfiguration)
Get the upper bound for ith dof.
Definition: dynamicrobot.hh:144
dynamicsJRLJapan
Definition: dynamicbody.hh:42
jrlDelegate::dynamicRobot::derivativeAngularMomentum
virtual const vector3d & derivativeAngularMomentum()
Get the time-derivative of the angular momentum at the center of mass.
Definition: dynamicrobot.hh:455
dynamicsJRLJapan::Joint
This class represents a robot joint.
Definition: joint.hh:47
CjrlDynamicRobot
jrlDelegate::dynamicRobot::getPositionJacobian
virtual bool getPositionJacobian(const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, const vector3d &inFrameLocalPosition, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)
Definition: dynamicrobot.hh:565
dynamicsJRLJapan::BodyGeometricalData
Definition: geometricdata.hh:143
dynamicbody.hh
CjrlDynamicRobot::getJacobianCenterOfMass
virtual bool getJacobianCenterOfMass(const CjrlJoint &inStartJoint, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)=0
CjrlDynamicRobot::getJacobian
virtual bool getJacobian(const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, const vector3d &inFrameLocalPosition, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)=0
CimplJoint
dynamicsJRLJapan::Joint CimplJoint
Definition: robotdynamicsimpl.hh:47
CjrlDynamicRobot::currentConfiguration
virtual bool currentConfiguration(const vectorN &inConfig)=0
jrlDelegate::dynamicRobot::getActuatedJoints
virtual const std::vector< CjrlJoint * > & getActuatedJoints() const
Returns the list of actuated joints.
Definition: dynamicrobot.hh:634
jrlDelegate::humanoidDynamicRobot::rightHand
virtual CjrlHand * rightHand() const
Get a pointer to the right hand.
Definition: humanoiddynamicrobot.hh:174
CjrlDynamicRobot::linearMomentumRobot
virtual const vector3d & linearMomentumRobot()=0
CjrlDynamicRobot::setProperty
virtual bool setProperty(std::string &, const std::string &)
dynamicsJRLJapan::Geometry::Appearance
Definition: geometricdata.hh:93
jrlDelegate::humanoidDynamicRobot::leftHand
virtual void leftHand(CjrlHand *inLeftHand)
Set the pointer to the left hand.
Definition: humanoiddynamicrobot.hh:183
CimplJointTranslation
dynamicsJRLJapan::JointTranslation CimplJointTranslation
Definition: robotdynamicsimpl.hh:46
CjrlHumanoidDynamicRobot
jrlDelegate::dynamicRobot::getJacobian
virtual bool getJacobian(const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, const vector3d &inFrameLocalPosition, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)
Compute and get position and orientation jacobian.
Definition: dynamicrobot.hh:549
jrlDelegate::dynamicRobot::rootJoint
virtual void rootJoint(CjrlJoint &inJoint)
Set the root joint of the robot.
Definition: dynamicrobot.hh:101
jrlDelegate::humanoidDynamicRobot::rightWrist
virtual CjrlJoint * rightWrist() const
Get a pointer to the right wrist.
Definition: humanoiddynamicrobot.hh:156
jrlDelegate::humanoidDynamicRobot::zeroMomentumPoint
virtual const vector3d & zeroMomentumPoint() const
return the coordinates of the Zero Momentum Point.
Definition: humanoiddynamicrobot.hh:355
joint.hh
CjrlDynamicRobot::getSpecializedInverseKinematics
virtual bool getSpecializedInverseKinematics(const CjrlJoint &, const CjrlJoint &, const matrix4d &, const matrix4d &, vectorN &)
jrlDelegate::humanoidDynamicRobot::gazeDirection
virtual const vector3d & gazeDirection() const
Get the direction of gaze.
Definition: humanoiddynamicrobot.hh:338
jrlDelegate::humanoidDynamicRobot::leftHand
virtual CjrlHand * leftHand() const
Get a pointer to the left hand.
Definition: humanoiddynamicrobot.hh:192
jrlDelegate::dynamicRobot::setJointOrderInConfig
virtual void setJointOrderInConfig(std::vector< CjrlJoint * > inJointVector)
Set the joint ordering in the configuration vector.
Definition: dynamicrobot.hh:236
foot.hh
matrix3d
jrlMathTools::Matrix3x3< double > matrix3d
jrlDelegate::dynamicRobot::upperBoundDof
virtual double upperBoundDof(unsigned int inRankInConfiguration, const vectorN &inConfig)
Compute the upper bound for ith dof using other configuration values if possible.
Definition: dynamicrobot.hh:165
CjrlDynamicRobot::getOrientationJacobian
virtual bool getOrientationJacobian(const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)=0
CjrlDynamicRobot::computeInertiaMatrix
virtual void computeInertiaMatrix()=0
jrlDelegate::dynamicRobot::currentForces
virtual const matrixNxP & currentForces() const
Get the current forces of the robot.
Definition: dynamicrobot.hh:336
jrlDelegate::humanoidDynamicRobot::chest
virtual CjrlJoint * chest() const
Get a pointer to the chest.
Definition: humanoiddynamicrobot.hh:120
CjrlDynamicRobot::currentAcceleration
virtual bool currentAcceleration(const vectorN &inAcceleration)=0
jrlDelegate::dynamicRobot::setProperty
virtual bool setProperty(std::string &inProperty, const std::string &inValue)
Set property corresponding to command name.
Definition: dynamicrobot.hh:517
jrlDelegate::dynamicRobot::lowerBoundDof
virtual double lowerBoundDof(unsigned int inRankInConfiguration, const vectorN &inConfig)
Compute the lower bound for ith dof using other configuration values if possible.
Definition: dynamicrobot.hh:175
jrlDelegate::humanoidDynamicRobot::gazeOrigin
virtual const vector3d & gazeOrigin() const
Get a point on the gaze straight line.
Definition: humanoiddynamicrobot.hh:329
CjrlDynamicRobot::currentForces
virtual const matrixNxP & currentForces() const=0
jrlDelegate
Definition: dynamicrobot.hh:39
CjrlHumanoidDynamicRobot::gazeDirection
virtual const vector3d & gazeDirection() const=0
jrlDelegate::dynamicRobot::velocityCenterOfMass
virtual const vector3d & velocityCenterOfMass()
Get the velocity of the center of mass.
Definition: dynamicrobot.hh:410
jrlDelegate::humanoidDynamicRobot::leftFoot
virtual void leftFoot(CjrlFoot *inLeftFoot)
Set the pointer to the left foot joint.
Definition: humanoiddynamicrobot.hh:261
CjrlHumanoidDynamicRobot::chest
virtual void chest(CjrlJoint *inChest)=0
CjrlDynamicRobot::getActuatedJoints
virtual const std::vector< CjrlJoint * > & getActuatedJoints() const=0
jrlDelegate::humanoidDynamicRobot::leftFoot
virtual CjrlFoot * leftFoot() const
Get a pointer to the left foot.
Definition: humanoiddynamicrobot.hh:270
CjrlDynamicRobot::mass
virtual double mass() const=0
CjrlHumanoidDynamicRobot::rightAnkle
virtual void rightAnkle(CjrlJoint *inRightAnkle)=0
CjrlHumanoidDynamicRobot::leftAnkle
virtual void leftAnkle(CjrlJoint *inLefAnkle)=0
jrlDelegate::humanoidDynamicRobot::gazeJoint
virtual void gazeJoint(CjrlJoint *inGazeJoint)
Set gaze joint.
Definition: humanoiddynamicrobot.hh:299
jrlDelegate::dynamicRobot::angularMomentumRobot
virtual const vector3d & angularMomentumRobot()
Get the angular momentum of the robot at the center of mass.
Definition: dynamicrobot.hh:446
dynamicsJRLJapan::Geometry::IndexedFaceSet::colorPerVertex
bool colorPerVertex
Definition: geometricdata.hh:47
dynamicsJRLJapan::DynamicBody::m_privateObj
boost::shared_ptr< CjrlBody > m_privateObj
Definition: dynamicbody.hh:53
joint.hh
dynamicsJRLJapan::Geometry::TextureTransform::rotation
double rotation
Definition: geometricdata.hh:85
jrlDelegate::dynamicRobot::currentVelocity
virtual const vectorN & currentVelocity() const
Get the current velocity of the robot.
Definition: dynamicrobot.hh:298
CjrlHumanoidDynamicRobot::setHandClench
virtual bool setHandClench(CjrlHand *inHand, double inClenchingValue)=0
jrlDelegate::dynamicRobot::lowerTorqueBoundDof
virtual double lowerTorqueBoundDof(unsigned int inRankInConfiguration)
Get the lower torque bound for ith dof.
Definition: dynamicrobot.hh:212
jrlDelegate::humanoidDynamicRobot::leftWrist
virtual void leftWrist(CjrlJoint *inLeftWrist)
Set the pointer to the left wrist joint.
Definition: humanoiddynamicrobot.hh:129
jrlDelegate::humanoidDynamicRobot::rightWrist
virtual void rightWrist(CjrlJoint *inRightWrist)
Set the pointer to the right wrist joint.
Definition: humanoiddynamicrobot.hh:147
CjrlBody
dynamicsJRLJapan::JointAnchor
Anchor joint.
Definition: joint.hh:359
CjrlHumanoidDynamicRobot::leftWrist
virtual void leftWrist(CjrlJoint *inLefWrist)=0
dynamicsJRLJapan::Geometry::IndexedFaceSet::texCoordIndex
std::vector< int > texCoordIndex
Definition: geometricdata.hh:54
jrlDelegate::dynamicRobot::computeCenterOfMassDynamics
virtual bool computeCenterOfMassDynamics()
Compute the dynamics of the center of mass.
Definition: dynamicrobot.hh:392
CjrlDynamicRobot::rootJoint
virtual void rootJoint(CjrlJoint &inJoint)=0
dynamicrobot.hh
dynamicsJRLJapan::Geometry::IndexedFaceSet::creaseAngle
double creaseAngle
Definition: geometricdata.hh:50
dynamicsJRLJapan::Geometry::IndexedFaceSet::normalIndex
std::vector< int > normalIndex
Definition: geometricdata.hh:51
jrlDelegate::dynamicRobot::getOrientationJacobian
virtual bool getOrientationJacobian(const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)
Definition: dynamicrobot.hh:581
jrlDelegate::humanoidDynamicRobot::waist
virtual CjrlJoint * waist() const
Get a pointer to the waist.
Definition: humanoiddynamicrobot.hh:97
jrlDelegate::humanoidDynamicRobot::rightAnkle
virtual void rightAnkle(CjrlJoint *inRightAnkle)
Set the pointer to the right ankle joint.
Definition: humanoiddynamicrobot.hh:243
CimplHand
dynamicsJRLJapan::Hand CimplHand
Definition: robotdynamicsimpl.hh:49
jrlDelegate::dynamicRobot::computeForwardKinematics
virtual bool computeForwardKinematics()
Compute forward kinematics.
Definition: dynamicrobot.hh:380
jrlDelegate::humanoidDynamicRobot::leftAnkle
virtual CjrlJoint * leftAnkle() const
Get a pointer to the left ankle.
Definition: humanoiddynamicrobot.hh:234
jrlDelegate::dynamicRobot::getSpecializedInverseKinematics
virtual bool getSpecializedInverseKinematics(const CjrlJoint &jointRoot, const CjrlJoint &jointEnd, const matrix4d &jointRootPosition, const matrix4d &jointEndPosition, vectorN &q)
Compute Speciliazed InverseKinematics between two joints.
Definition: dynamicrobot.hh:679
jrlDelegate::humanoidDynamicRobot::waist
virtual void waist(CjrlJoint *inWaist)
Set the pointer to the waist.
Definition: humanoiddynamicrobot.hh:87
jrlDelegate::humanoidDynamicRobot::gaze
virtual void gaze(const vector3d &inDirection, const vector3d &inOrigin)
Set the gaze orientation and position in the local frame of the gaze joint.
Definition: humanoiddynamicrobot.hh:319
jrlDelegate::dynamicRobot::getProperty
virtual bool getProperty(const std::string &inProperty, std::string &outValue)
Get property corresponding to command name.
Definition: dynamicrobot.hh:500
dll.hh
CjrlDynamicRobot::setJointOrderInConfig
virtual void setJointOrderInConfig(std::vector< CjrlJoint * > inJointVector)=0
CjrlDynamicRobot::numberDof
virtual unsigned int numberDof() const=0
CjrlDynamicRobot::upperVelocityBoundDof
virtual double upperVelocityBoundDof(unsigned int inRankInConfiguration)=0
CimplHumanoidDynamicRobot
jrlDelegate::humanoidDynamicRobot CimplHumanoidDynamicRobot
Definition: robotdynamicsimpl.hh:42
CjrlDynamicRobot::upperBoundDof
virtual double upperBoundDof(unsigned int inRankInConfiguration)=0
CjrlDynamicRobot::getPositionJacobian
virtual bool getPositionJacobian(const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint, const vector3d &inFrameLocalPosition, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)=0
jrlDelegate::dynamicRobot::initialize
virtual bool initialize()
Initialize data-structure necessary to dynamic computations This function should be called after buil...
Definition: dynamicrobot.hh:75
jrlDelegate::humanoidDynamicRobot::humanoidDynamicRobot
humanoidDynamicRobot(CjrlRobotDynamicsObjectFactory *inObjectFactory)
Definition: humanoiddynamicrobot.hh:55
CjrlDynamicRobot::isSupported
virtual bool isSupported(const std::string &)
CimplJointRotation
dynamicsJRLJapan::JointRotation CimplJointRotation
Definition: robotdynamicsimpl.hh:45
jrlDelegate::dynamicRobot::currentTorques
virtual const matrixNxP & currentTorques() const
Get the current torques of the robot.
Definition: dynamicrobot.hh:347
vectorN
boost_ublas::vector< double > vectorN
CjrlFoot
CjrlHumanoidDynamicRobot::gazeOrigin
virtual const vector3d & gazeOrigin() const=0
jrlDelegate::humanoidDynamicRobot::rightHand
virtual void rightHand(CjrlHand *inRightHand)
Set the pointer to the right hand.
Definition: humanoiddynamicrobot.hh:165
CjrlDynamicRobot::initialize
virtual bool initialize()=0
matrix4d
struct jrlMathTools::Matrix4x4< double > matrix4d
CjrlDynamicRobot::lowerBoundDof
virtual double lowerBoundDof(unsigned int inRankInConfiguration)=0
dynamicsJRLJapan::DynamicBody::~DynamicBody
virtual ~DynamicBody()
Definition: dynamicbody.hh:58
jrlDelegate::humanoidDynamicRobot::leftAnkle
virtual void leftAnkle(CjrlJoint *inLeftAnkle)
Set the pointer to the left ankle joint.
Definition: humanoiddynamicrobot.hh:225
jrlDelegate::dynamicRobot::upperVelocityBoundDof
virtual double upperVelocityBoundDof(unsigned int inRankInConfiguration)
Get the upper velocity bound for ith dof.
Definition: dynamicrobot.hh:185
dynamicsJRLJapan::Geometry::Material::ambientIntensity
double ambientIntensity
Definition: geometricdata.hh:63
dynamicsJRLJapan::DynamicBody
This class implements a body.
Definition: dynamicbody.hh:49
hand.hh
matrixabstractlayer.hh
jrlDelegate::dynamicRobot::jointVector
virtual std::vector< CjrlJoint * > jointVector()
Get a vector containing all the joints.
Definition: dynamicrobot.hh:120
dynamicsJRLJapan::Joint::m_privateObj
boost::shared_ptr< CjrlJoint > m_privateObj
Definition: joint.hh:51
CjrlHumanoidDynamicRobot::rightFoot
virtual void rightFoot(CjrlFoot *inRightFoot)=0
CjrlDynamicRobot::computeForwardKinematics
virtual bool computeForwardKinematics()=0
dynamicsJRLJapan::Geometry::IndexedFaceSet::ccw
bool ccw
Definition: geometricdata.hh:45
dynamicsJRLJapan::parseOpenHRPVRMLFile
DYN_JRL_JAPAN_EXPORT int parseOpenHRPVRMLFile(CjrlHumanoidDynamicRobot &ajrlHumanoidDynamicRobot, std::string &OpenHRPVRMLFile, std::string &MapJointToRankFileName, std::string &FileOfSpecificities)
humanoiddynamicrobot.hh
jrlDelegate::dynamicRobot::getJacobianCenterOfMass
virtual bool getJacobianCenterOfMass(const CjrlJoint &inStartJoint, matrixNxP &outjacobian, unsigned int offset=0, bool inIncludeStartFreeFlyer=true)
Definition: dynamicrobot.hh:596
jrlDelegate::humanoidDynamicRobot::rightFoot
virtual void rightFoot(CjrlFoot *inRightFoot)
Set the pointer to the right foot joint.
Definition: humanoiddynamicrobot.hh:279
CjrlHumanoidDynamicRobot::zeroMomentumPoint
virtual const vector3d & zeroMomentumPoint() const=0
dynamicsJRLJapan::JointFreeflyer
Free flyer joint.
Definition: joint.hh:332
CjrlHumanoidDynamicRobot::leftHand
virtual void leftHand(CjrlHand *inLeftHand)=0
dynamicsfactory.hh
CjrlDynamicRobot::getProperty
virtual bool getProperty(const std::string &, std::string &) const
CjrlDynamicRobot::angularMomentumRobot
virtual const vector3d & angularMomentumRobot()=0
matrixNxP
boost_ublas::matrix< double > matrixNxP
jrlDelegate::humanoidDynamicRobot::~humanoidDynamicRobot
virtual ~humanoidDynamicRobot()
Destructor.
Definition: humanoiddynamicrobot.hh:75
CjrlDynamicRobot::derivativeLinearMomentum
virtual const vector3d & derivativeLinearMomentum()=0
CjrlHumanoidDynamicRobot::leftFoot
virtual void leftFoot(CjrlFoot *inLeftFoot)=0
CjrlHumanoidDynamicRobot::getHandClench
virtual double getHandClench(CjrlHand *inHand)=0
jrlDelegate::humanoidDynamicRobot::getHandClench
virtual double getHandClench(CjrlHand *inHand)
Get the hand clench value.
Definition: humanoiddynamicrobot.hh:204
CjrlDynamicRobot::computeCenterOfMassDynamics
virtual bool computeCenterOfMassDynamics()=0
CimplBody
dynamicsJRLJapan::DynamicBody CimplBody
Definition: robotdynamicsimpl.hh:48
CjrlDynamicRobot::lowerTorqueBoundDof
virtual double lowerTorqueBoundDof(unsigned int inRankInConfiguration)=0
CjrlDynamicRobot::setActuatedJoints
virtual void setActuatedJoints(std::vector< CjrlJoint * > &lActuatedJoints)=0
CjrlDynamicRobot::lowerVelocityBoundDof
virtual double lowerVelocityBoundDof(unsigned int inRankInConfiguration)=0
jrlDelegate::dynamicRobot::currentAcceleration
virtual const vectorN & currentAcceleration() const
Get the current acceleration of the robot.
Definition: dynamicrobot.hh:324
jrlDelegate::dynamicRobot::derivativeLinearMomentum
virtual const vector3d & derivativeLinearMomentum()
Get the time-derivative of the linear momentum.
Definition: dynamicrobot.hh:437
jrlDelegate::dynamicRobot::dynamicRobot
dynamicRobot(dynamicRobot *inDRNA)
Definition: dynamicrobot.hh:63
jrlDelegate::dynamicRobot::positionCenterOfMass
virtual const vector3d & positionCenterOfMass() const
Get the position of the center of mass.
Definition: dynamicrobot.hh:401
robot-dynamics-object-constructor.hh
jrlDelegate::humanoidDynamicRobot
Template to implement a non abstract class describing a humanoid robot with dynamics....
Definition: humanoiddynamicrobot.hh:47
jrlDelegate::dynamicRobot::computeInertiaMatrix
virtual void computeInertiaMatrix()
Compute the inertia matrix of the robot according wrt .
Definition: dynamicrobot.hh:612
jrlDelegate::dynamicRobot::dynamicRobot
dynamicRobot()
Definition: dynamicrobot.hh:67
jrlDelegate::dynamicRobot::currentVelocity
virtual bool currentVelocity(const vectorN &inVelocity)
Set the current velocity of the robot.
Definition: dynamicrobot.hh:286
CjrlRobotDynamicsObjectFactory
dynamicsJRLJapan::Geometry::IndexedFaceSet::coord
std::vector< vector3d > coord
Definition: geometricdata.hh:55
dynamicsJRLJapan::Geometry::polygonIndex
std::vector< int > polygonIndex
Definition: geometricdata.hh:41
jrlDelegate::dynamicRobot::currentJointTorques
virtual const vectorN & currentJointTorques() const
Get the current joint torques of the robot.
Definition: dynamicrobot.hh:358
dynamicsJRLJapan::Geometry::operator<<
std::ostream & operator<<(std::ostream &, const Material &)
vector3d
V3D vector3d
dynamicsJRLJapan::Geometry::IndexedFaceSet::normalPerVertex
bool normalPerVertex
Definition: geometricdata.hh:52
jrlDelegate::humanoidDynamicRobot::gazeJoint
virtual CjrlJoint * gazeJoint() const
Get gaze joint.
Definition: humanoiddynamicrobot.hh:308
jrlDelegate::humanoidDynamicRobot::rightFoot
virtual CjrlFoot * rightFoot() const
Get a pointer to the right foot.
Definition: humanoiddynamicrobot.hh:288
CjrlHumanoidDynamicRobot::gaze
virtual void gaze(const vector3d &inDirection, const vector3d &inOrigin)=0
jrlDelegate::dynamicRobot::linearMomentumRobot
virtual const vector3d & linearMomentumRobot()
Get the linear momentum of the robot.
Definition: dynamicrobot.hh:428
geometricdata.hh
jrlDelegate::dynamicRobot::currentConfiguration
virtual bool currentConfiguration(const vectorN &inConfig)
Set the current configuration of the robot.
Definition: dynamicrobot.hh:260
CimplJointFreeFlyer
dynamicsJRLJapan::JointFreeflyer CimplJointFreeFlyer
Definition: robotdynamicsimpl.hh:43
CjrlDynamicRobot::accelerationCenterOfMass
virtual const vector3d & accelerationCenterOfMass()=0
jrlDelegate::humanoidDynamicRobot::humanoidDynamicRobot
humanoidDynamicRobot()
Definition: humanoiddynamicrobot.hh:67
jrlDelegate::dynamicRobot::mass
virtual double mass() const
Get the total mass of the robot.
Definition: dynamicrobot.hh:464
CimplJointAnchor
dynamicsJRLJapan::JointAnchor CimplJointAnchor
Definition: robotdynamicsimpl.hh:44
dynamicsJRLJapan::Geometry::TextureTransform
Definition: geometricdata.hh:82
jrlDelegate::dynamicRobot::currentAcceleration
virtual bool currentAcceleration(const vectorN &inAcceleration)
Set the current acceleration of the robot.
Definition: dynamicrobot.hh:313
jrlDelegate::humanoidDynamicRobot::chest
virtual void chest(CjrlJoint *inChest)
Set the pointer to the chest.
Definition: humanoiddynamicrobot.hh:109
CjrlDynamicRobot::inertiaMatrix
virtual const matrixNxP & inertiaMatrix() const=0
CjrlDynamicRobot::jointsBetween
virtual std::vector< CjrlJoint * > jointsBetween(const CjrlJoint &inStartJoint, const CjrlJoint &inEndJoint) const=0
jrlDelegate::dynamicRobot::rootJoint
virtual CjrlJoint * rootJoint() const
Get the root joint of the robot.
Definition: dynamicrobot.hh:110
CjrlHand
jrlDelegate::dynamicRobot::currentConfiguration
virtual const vectorN & currentConfiguration() const
Get the current configuration of the robot.
Definition: dynamicrobot.hh:271
jrlDelegate::humanoidDynamicRobot::leftWrist
virtual CjrlJoint * leftWrist() const
Get a pointer to the left wrist.
Definition: humanoiddynamicrobot.hh:138
jrlDelegate::humanoidDynamicRobot::rightAnkle
virtual CjrlJoint * rightAnkle() const
Get a pointer to the right ankle.
Definition: humanoiddynamicrobot.hh:252
CjrlDynamicRobot::positionCenterOfMass
virtual const vector3d & positionCenterOfMass() const=0
CjrlHumanoidDynamicRobot::waist
virtual void waist(CjrlJoint *inWaist)=0
CjrlDynamicRobot::currentVelocity
virtual bool currentVelocity(const vectorN &inVelocity)=0
jrlDelegate::dynamicRobot::lowerBoundDof
virtual double lowerBoundDof(unsigned int inRankInConfiguration)
Get the lower bound for ith dof.
Definition: dynamicrobot.hh:154
CjrlHumanoidDynamicRobot::rightWrist
virtual void rightWrist(CjrlJoint *inRightWrist)=0
CjrlHumanoidDynamicRobot::gazeJoint
virtual void gazeJoint(CjrlJoint *inGazeJoint)=0
dynamicsJRLJapan::Geometry::Material::shininess
double shininess
Definition: geometricdata.hh:66
CjrlDynamicRobot::upperTorqueBoundDof
virtual double upperTorqueBoundDof(unsigned int inRankInConfiguration)=0
dynamic-robot.hh
dynamicsJRLJapan::JointTranslation
Translation joint.
Definition: joint.hh:350
CjrlDynamicRobot::jointVector
virtual std::vector< CjrlJoint * > jointVector()=0
jrlDelegate::dynamicRobot::dynamicRobot
dynamicRobot(CjrlRobotDynamicsObjectFactory *inObjectFactory)
Definition: dynamicrobot.hh:59
dynamicsJRLJapan::Joint::~Joint
virtual ~Joint()
Definition: joint.hh:56
dynamicsJRLJapan::Geometry::IndexedFaceSet::coordIndex
std::vector< polygonIndex > coordIndex
Definition: geometricdata.hh:49
CjrlDynamicRobot::derivativeAngularMomentum
virtual const vector3d & derivativeAngularMomentum()=0
dynamicsJRLJapan::Geometry::Material::transparency
double transparency
Definition: geometricdata.hh:68
jrlDelegate::dynamicRobot::numberDof
virtual unsigned int numberDof() const
Get the number of degrees of freedom of the robot.
Definition: dynamicrobot.hh:222
humanoid-dynamic-robot.hh
jrlDelegate::dynamicRobot::~dynamicRobot
virtual ~dynamicRobot()
Destructor.
Definition: dynamicrobot.hh:84
hand.hh
CjrlHumanoidDynamicRobot::rightHand
virtual void rightHand(CjrlHand *inRightHand)=0
jrlDelegate::dynamicRobot::isSupported
virtual bool isSupported(const std::string &inProperty)
Whether the specified property in implemented.
Definition: dynamicrobot.hh:486
CjrlDynamicRobot::velocityCenterOfMass
virtual const vector3d & velocityCenterOfMass()=0
dynamicsJRLJapan::Geometry::IndexedFaceSet::solid
bool solid
Definition: geometricdata.hh:53
jrlDelegate::dynamicRobot::accelerationCenterOfMass
virtual const vector3d & accelerationCenterOfMass()
Get the acceleration of the center of mass.
Definition: dynamicrobot.hh:419
dynamicsJRLJapan::Hand
This class represents a hand. A hand has a central point referenced in the wrist joint frame,...
Definition: hand.hh:42
CjrlDynamicRobot::currentTorques
virtual const matrixNxP & currentTorques() const=0
dynamicsJRLJapan::Geometry::IndexedFaceSet::colorIndex
std::vector< int > colorIndex
Definition: geometricdata.hh:46
jrlDelegate::dynamicRobot::setActuatedJoints
virtual void setActuatedJoints(std::vector< CjrlJoint * > &lActuatedJoints)
Specifies the list of actuated joints.
Definition: dynamicrobot.hh:643
dynamicsJRLJapan::JointRotation
Rotation joint.
Definition: joint.hh:341
jrlDelegate::dynamicRobot::upperTorqueBoundDof
virtual double upperTorqueBoundDof(unsigned int inRankInConfiguration)
Get the upper torque bound for ith dof.
Definition: dynamicrobot.hh:203
body.hh