#include <Skeleton.hpp>

Inheritance diagram for dart::dynamics::Skeleton:

Classes
struct	Configuration
	The Configuration struct represents the joint configuration of a Skeleton. More...

struct	DataCache

struct	DirtyFlags

Public Types
enum	ConfigFlags { CONFIG_NOTHING = 0 , CONFIG_POSITIONS = 1 << 1 , CONFIG_VELOCITIES = 1 << 2 , CONFIG_ACCELERATIONS = 1 << 3 , CONFIG_FORCES = 1 << 4 , CONFIG_COMMANDS = 1 << 5 , CONFIG_ALL = 0xFF }

using	AspectPropertiesData = detail::SkeletonAspectProperties

using	AspectProperties = common::Aspect::MakeProperties< AspectPropertiesData >

using	State = common::Composite::State

using	Properties = common::Composite::Properties

using	NameChangedSignal = common::Signal< void(std::shared_ptr< const MetaSkeleton > _skeleton, const std::string &_oldName, const std::string &_newName)>

using	Impl = EmbedProperties< DerivedT, PropertiesDataT >

using	Derived = typename Impl::Derived

using	Aspect = typename Impl::Aspect

using	Base = CompositeJoiner< Impl, CompositeBases... >

Public Member Functions
void	integratePositions (double _dt)

void	integrateVelocities (double _dt)

Eigen::VectorXd	getPositionDifferences (const Eigen::VectorXd &_q2, const Eigen::VectorXd &_q1) const
	Return the difference of two generalized positions which are measured in the configuration space of this Skeleton. More...

Eigen::VectorXd	getVelocityDifferences (const Eigen::VectorXd &_dq2, const Eigen::VectorXd &_dq1) const
	Return the difference of two generalized velocities or accelerations which are measured in the tangent space at the identity. More...

void	computeForwardKinematics (bool _updateTransforms=true, bool _updateVels=true, bool _updateAccs=true)
	Compute forward kinematics. More...

void	computeForwardDynamics ()
	Compute forward dynamics. More...

void	computeInverseDynamics (bool _withExternalForces=false, bool _withDampingForces=false, bool _withSpringForces=false)
	Computes inverse dynamics. More...

void	clearConstraintImpulses ()
	Clear constraint impulses and cache data used for impulse-based forward dynamics algorithm, where the constraint impulses are spatial constraints on the BodyNodes and generalized constraints on the Joints. More...

void	updateBiasImpulse (BodyNode *_bodyNode)
	Update bias impulses. More...

void	updateBiasImpulse (BodyNode *_bodyNode, const Eigen::Vector6d &_imp)
	Update bias impulses due to impulse [_imp] on body node [_bodyNode]. More...

void	updateBiasImpulse (BodyNode _bodyNode1, const Eigen::Vector6d &_imp1, BodyNode _bodyNode2, const Eigen::Vector6d &_imp2)
	Update bias impulses due to impulse [_imp] on body node [_bodyNode]. More...

void	updateBiasImpulse (SoftBodyNode _softBodyNode, PointMass _pointMass, const Eigen::Vector3d &_imp)
	Update bias impulses due to impulse[_imp] on body node [_bodyNode]. More...

void	updateVelocityChange ()
	Update velocity changes in body nodes and joints due to applied impulse. More...

void	setImpulseApplied (bool _val)
	Set whether this skeleton is constrained. More...

bool	isImpulseApplied () const
	Get whether this skeleton is constrained. More...

void	computeImpulseForwardDynamics ()
	Compute impulse-based forward dynamics. More...

void	resetUnion ()

virtual math::AngularJacobian	getAngularJacobian (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const=0
	Get the angular Jacobian of a BodyNode. More...

math::AngularJacobian	getAngularJacobian (const JacobianNode _node, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const
	Get the angular Jacobian of a BodyNode relative to another BodyNode in the same Skeleton. More...

virtual math::AngularJacobian	getAngularJacobianDeriv (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const=0
	Get the angular Jacobian time derivative of a BodyNode. More...

virtual math::Jacobian	getJacobian (const JacobianNode *_node) const=0
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

virtual math::Jacobian	getJacobian (const JacobianNode _node, const Frame _inCoordinatesOf) const=0
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

math::Jacobian	getJacobian (const JacobianNode _node, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf) const
	Get the spatial Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...

virtual math::Jacobian	getJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const=0
	Get the spatial Jacobian targeting an offset in a BodyNode. More...

virtual math::Jacobian	getJacobian (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf) const=0
	Get the spatial Jacobian targeting an offset in a BodyNode. More...

math::Jacobian	getJacobian (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf) const
	Get the spatial Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton. More...

virtual math::Jacobian	getJacobianClassicDeriv (const JacobianNode *_node) const=0
	Get the spatial Jacobian (classical) time derivative targeting the origin of a BodyNode. More...

virtual math::Jacobian	getJacobianClassicDeriv (const JacobianNode _node, const Frame _inCoordinatesOf) const=0
	Get the spatial Jacobian (classical) time derivative targeting the origin a BodyNode. More...

virtual math::Jacobian	getJacobianClassicDeriv (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf=Frame::World()) const=0
	Get the spatial Jacobian (classical) time derivative targeting an offset in a BodyNode. More...

virtual math::Jacobian	getJacobianSpatialDeriv (const JacobianNode *_node) const=0
	Get the spatial Jacobian time derivative targeting the origin of a BodyNode. More...

virtual math::Jacobian	getJacobianSpatialDeriv (const JacobianNode _node, const Frame _inCoordinatesOf) const=0
	Get the spatial Jacobian time derivative targeting the origin of a BodyNode. More...

virtual math::Jacobian	getJacobianSpatialDeriv (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const=0
	Get the spatial Jacobian time derivative targeting an offset in a BodyNode. More...

virtual math::Jacobian	getJacobianSpatialDeriv (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf) const=0
	Get the spatial Jacobian time derivative targeting an offset in a BodyNode. More...

math::Jacobian	getJacobianSpatialDeriv (const JacobianNode _node, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf) const
	Get the spatial Jacobian time derivative targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...

math::Jacobian	getJacobianSpatialDeriv (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf) const
	Get the spatial Jacobian time derivative targeting an offset in a BodyNode relative to another Bodynode in the same Skeleton. More...

virtual math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const=0
	Get the linear Jacobian targeting the origin of a BodyNode. More...

virtual math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf=Frame::World()) const=0
	Get the linear Jacobian targeting an offset in a BodyNode. More...

math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const
	Get the linear Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...

math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const
	Get the linear Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton. More...

virtual math::LinearJacobian	getLinearJacobianDeriv (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const=0
	of a BodyNode. More...

virtual math::LinearJacobian	getLinearJacobianDeriv (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf=Frame::World()) const=0
	Get the linear Jacobian (classical) time derivative targeting an offset in a BodyNode. More...

virtual std::size_t	incrementVersion ()
	Increment the version for this object. More...

virtual std::size_t	getVersion () const
	Get the version number of this object. More...

MetaSkeletonPtr	cloneMetaSkeleton () const
	Creates an identical clone of this MetaSkeleton. More...

const AspectProperties &	getAspectProperties () const

Configuration
void	setConfiguration (const Configuration &configuration)
	Set the configuration of this Skeleton. More...

Configuration	getConfiguration (int flags=CONFIG_ALL) const
	Get the configuration of this Skeleton. More...

Configuration	getConfiguration (const std::vector< std::size_t > &indices, int flags=CONFIG_ALL) const
	Get the configuration of the specified indices in this Skeleton. More...

State
void	setState (const State &state)
	Set the State of this Skeleton [alias for setCompositeState(~)]. More...

State	getState () const
	Get the State of this Skeleton [alias for getCompositeState()]. More...

Properties
void	setProperties (const Properties &properties)
	Set all properties of this Skeleton. More...

Properties	getProperties () const
	Get all properties of this Skeleton. More...

void	setProperties (const AspectProperties &properties)
	Set the Properties of this Skeleton. More...

const AspectProperties &	getSkeletonProperties () const
	Get the Properties of this Skeleton. More...

void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this Skeleton. More...

const std::string &	setName (const std::string &_name) override
	Set name. More...

const std::string &	getName () const override
	Get name. More...

void	enableSelfCollision (bool enableAdjacentBodyCheck=false)
	Deprecated. More...

void	disableSelfCollision ()
	Deprecated. Please use disableSelfCollisionCheck() instead. More...

void	setSelfCollisionCheck (bool enable)
	Set whether to check self-collision. More...

bool	getSelfCollisionCheck () const
	Return whether self-collision check is enabled. More...

void	enableSelfCollisionCheck ()
	Enable self-collision check. More...

void	disableSelfCollisionCheck ()
	Disable self-collision check. More...

bool	isEnabledSelfCollisionCheck () const
	Return true if self-collision check is enabled. More...

void	setAdjacentBodyCheck (bool enable)
	Set whether to check adjacent bodies. More...

bool	getAdjacentBodyCheck () const
	Return whether adjacent body check is enabled. More...

void	enableAdjacentBodyCheck ()
	Enable collision check for adjacent bodies. More...

void	disableAdjacentBodyCheck ()
	Disable collision check for adjacent bodies. More...

bool	isEnabledAdjacentBodyCheck () const
	Return true if self-collision check is enabled including adjacent bodies. More...

void	setMobile (bool _isMobile)
	Set whether this skeleton will be updated by forward dynamics. More...

bool	isMobile () const
	Get whether this skeleton will be updated by forward dynamics. More...

void	setTimeStep (double _timeStep)
	Set time step. More...

double	getTimeStep () const
	Get time step. More...

void	setGravity (const Eigen::Vector3d &_gravity)
	Set 3-dim gravitational acceleration. More...

const Eigen::Vector3d &	getGravity () const
	Get 3-dim gravitational acceleration. More...

Structural Properties
template<class JointType , class NodeType = BodyNode>
std::pair< JointType , NodeType >	createJointAndBodyNodePair (BodyNode *_parent=nullptr, const typename JointType::Properties &_jointProperties=typename JointType::Properties(), const typename NodeType::Properties &_bodyProperties=typename NodeType::Properties())
	Create a Joint and child BodyNode pair of the given types. More...

std::size_t	getNumBodyNodes () const override
	Get number of body nodes. More...

std::size_t	getNumRigidBodyNodes () const
	Get number of rigid body nodes. More...

std::size_t	getNumSoftBodyNodes () const
	Get number of soft body nodes. More...

std::size_t	getNumTrees () const
	Get the number of independent trees that this Skeleton contains. More...

BodyNode *	getRootBodyNode (std::size_t _treeIdx=0)
	Get the root BodyNode of the tree whose index in this Skeleton is _treeIdx. More...

const BodyNode *	getRootBodyNode (std::size_t _treeIdx=0) const
	Get the const root BodyNode of the tree whose index in this Skeleton is _treeIdx. More...

Joint *	getRootJoint (std::size_t treeIdx=0u)
	Get the root Joint of the tree whose index in this Skeleton is treeIdx. More...

const Joint *	getRootJoint (std::size_t treeIdx=0u) const
	Get the const root Joint of the tree whose index in this Skeleton is treeIdx. More...

BodyNode *	getBodyNode (std::size_t _idx) override
	Get BodyNode whose index is _idx. More...

const BodyNode *	getBodyNode (std::size_t _idx) const override
	Get const BodyNode whose index is _idx. More...

SoftBodyNode *	getSoftBodyNode (std::size_t _idx)
	Get SoftBodyNode whose index is _idx. More...

const SoftBodyNode *	getSoftBodyNode (std::size_t _idx) const
	Get const SoftBodyNode whose index is _idx. More...

BodyNode *	getBodyNode (const std::string &name) override
	Returns the BodyNode of given name. More...

const BodyNode *	getBodyNode (const std::string &name) const override
	Returns the BodyNode of given name. More...

SoftBodyNode *	getSoftBodyNode (const std::string &_name)
	Get soft body node whose name is _name. More...

const SoftBodyNode *	getSoftBodyNode (const std::string &_name) const
	Get const soft body node whose name is _name. More...

const std::vector< BodyNode * > &	getBodyNodes () override
	Get all the BodyNodes that are held by this MetaSkeleton. More...

const std::vector< const BodyNode * > &	getBodyNodes () const override
	Get all the BodyNodes that are held by this MetaSkeleton. More...

std::vector< BodyNode * >	getBodyNodes (const std::string &name) override
	Returns all the BodyNodes of given name. More...

std::vector< const BodyNode * >	getBodyNodes (const std::string &name) const override
	Returns all the BodyNodes of given name. More...

bool	hasBodyNode (const BodyNode *bodyNode) const override
	Returns whether this Skeleton contains `bodyNode`. More...

std::size_t	getIndexOf (const BodyNode *_bn, bool _warning=true) const override
	Get the index of a specific BodyNode within this ReferentialSkeleton. More...

const std::vector< BodyNode * > &	getTreeBodyNodes (std::size_t _treeIdx)
	Get the BodyNodes belonging to a tree in this Skeleton. More...

std::vector< const BodyNode * >	getTreeBodyNodes (std::size_t _treeIdx) const
	Get the BodyNodes belonging to a tree in this Skeleton. More...

std::size_t	getNumJoints () const override
	Get number of Joints. More...

Joint *	getJoint (std::size_t _idx) override
	Get Joint whose index is _idx. More...

const Joint *	getJoint (std::size_t _idx) const override
	Get const Joint whose index is _idx. More...

Joint *	getJoint (const std::string &name) override
	Returns the Joint of given name. More...

const Joint *	getJoint (const std::string &name) const override
	Returns the joint of given name. More...

std::vector< Joint * >	getJoints () override
	Returns all the joints that are held by this MetaSkeleton. More...

std::vector< const Joint * >	getJoints () const override
	Returns all the joints that are held by this MetaSkeleton. More...

std::vector< Joint * >	getJoints (const std::string &name) override
	Returns all the Joint of given name. More...

std::vector< const Joint * >	getJoints (const std::string &name) const override
	Returns all the Joint of given name. More...

bool	hasJoint (const Joint *joint) const override
	Returns whether this Skeleton contains `join`. More...

std::size_t	getIndexOf (const Joint *_joint, bool _warning=true) const override
	Get the index of a specific Joint within this ReferentialSkeleton. More...

std::size_t	getNumDofs () const override
	Return the number of degrees of freedom in this skeleton. More...

DegreeOfFreedom *	getDof (std::size_t _idx) override
	Get degree of freedom (aka generalized coordinate) whose index is _idx. More...

const DegreeOfFreedom *	getDof (std::size_t _idx) const override
	Get degree of freedom (aka generalized coordinate) whose index is _idx. More...

DegreeOfFreedom *	getDof (const std::string &_name)
	Get degree of freedom (aka generalized coordinate) whose name is _name. More...

const DegreeOfFreedom *	getDof (const std::string &_name) const
	Get degree of freedom (aka generalized coordinate) whose name is _name. More...

const std::vector< DegreeOfFreedom * > &	getDofs () override
	Get the vector of DegreesOfFreedom for this MetaSkeleton. More...

std::vector< const DegreeOfFreedom * >	getDofs () const override
	Get a vector of const DegreesOfFreedom for this MetaSkeleton. More...

std::size_t	getIndexOf (const DegreeOfFreedom *_dof, bool _warning=true) const override
	Get the index of a specific DegreeOfFreedom within this ReferentialSkeleton. More...

const std::vector< DegreeOfFreedom * > &	getTreeDofs (std::size_t _treeIdx)
	Get the DegreesOfFreedom belonging to a tree in this Skeleton. More...

const std::vector< const DegreeOfFreedom * > &	getTreeDofs (std::size_t _treeIdx) const
	Get the DegreesOfFreedom belonging to a tree in this Skeleton. More...

bool	checkIndexingConsistency () const
	This function is only meant for debugging purposes. More...

const std::shared_ptr< WholeBodyIK > &	getIK (bool _createIfNull=false)
	Get a pointer to a WholeBodyIK module for this Skeleton. More...

const std::shared_ptr< WholeBodyIK > &	getOrCreateIK ()
	Get a pointer to a WholeBodyIK module for this Skeleton. More...

std::shared_ptr< const WholeBodyIK >	getIK () const
	Get a pointer to a WholeBodyIK module for this Skeleton. More...

const std::shared_ptr< WholeBodyIK > &	createIK ()
	Create a new WholeBodyIK module for this Skeleton. More...

void	clearIK ()
	Wipe away the WholeBodyIK module for this Skeleton, leaving it as a nullptr. More...

std::size_t	getNumMarkers () const

Marker *	getMarker (std::size_t index)

const Marker *	getMarker (std::size_t index) const

std::size_t	getNumMarkers (std::size_t treeIndex) const

Marker *	getMarker (std::size_t treeIndex, std::size_t nodeIndex)

const Marker *	getMarker (std::size_t treeIndex, std::size_t nodeIndex) const

Marker *	getMarker (const std::string &name)

const Marker *	getMarker (const std::string &name) const

std::size_t	getNumShapeNodes () const

ShapeNode *	getShapeNode (std::size_t index)

const ShapeNode *	getShapeNode (std::size_t index) const

std::size_t	getNumShapeNodes (std::size_t treeIndex) const

ShapeNode *	getShapeNode (std::size_t treeIndex, std::size_t nodeIndex)

const ShapeNode *	getShapeNode (std::size_t treeIndex, std::size_t nodeIndex) const

ShapeNode *	getShapeNode (const std::string &name)

const ShapeNode *	getShapeNode (const std::string &name) const

std::size_t	getNumEndEffectors () const

EndEffector *	getEndEffector (std::size_t index)

const EndEffector *	getEndEffector (std::size_t index) const

std::size_t	getNumEndEffectors (std::size_t treeIndex) const

EndEffector *	getEndEffector (std::size_t treeIndex, std::size_t nodeIndex)

const EndEffector *	getEndEffector (std::size_t treeIndex, std::size_t nodeIndex) const

EndEffector *	getEndEffector (const std::string &name)

const EndEffector *	getEndEffector (const std::string &name) const

Support Polygon
const math::SupportPolygon &	getSupportPolygon () const
	Get the support polygon of this Skeleton, which is computed based on the gravitational projection of the support geometries of all EndEffectors in this Skeleton that are currently in support mode. More...

const math::SupportPolygon &	getSupportPolygon (std::size_t _treeIdx) const
	Same as getSupportPolygon(), but it will only use EndEffectors within the specified tree within this Skeleton. More...

const std::vector< std::size_t > &	getSupportIndices () const
	Get a list of the EndEffector indices that correspond to each of the points in the support polygon. More...

const std::vector< std::size_t > &	getSupportIndices (std::size_t _treeIdx) const
	Same as getSupportIndices(), but it corresponds to the support polygon of the specified tree within this Skeleton. More...

const std::pair< Eigen::Vector3d, Eigen::Vector3d > &	getSupportAxes () const
	Get the axes that correspond to each component in the support polygon. More...

const std::pair< Eigen::Vector3d, Eigen::Vector3d > &	getSupportAxes (std::size_t _treeIdx) const
	Same as getSupportAxes(), but it corresponds to the support polygon of the specified tree within this Skeleton. More...

const Eigen::Vector2d &	getSupportCentroid () const
	Get the centroid of the support polygon for this Skeleton. More...

const Eigen::Vector2d &	getSupportCentroid (std::size_t _treeIdx) const
	Get the centroid of the support polygon for a tree in this Skeleton. More...

std::size_t	getSupportVersion () const
	The version number of a support polygon will be incremented each time the support polygon needs to be recomputed. More...

std::size_t	getSupportVersion (std::size_t _treeIdx) const
	Same as getSupportVersion(), but it corresponds to the support polygon of the specified tree within this Skeleton. More...

Jacobians
math::Jacobian	getJacobian (const JacobianNode *_node) const override
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

math::Jacobian	getJacobian (const JacobianNode _node, const Frame _inCoordinatesOf) const override
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

math::Jacobian	getJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const override
	Get the spatial Jacobian targeting an offset in a BodyNode. More...

math::Jacobian	getJacobian (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf) const override
	Get the spatial Jacobian targeting an offset in a BodyNode. More...

math::Jacobian	getWorldJacobian (const JacobianNode *_node) const override
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

math::Jacobian	getWorldJacobian (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const override
	Get the spatial Jacobian targeting an offset in a BodyNode. More...

math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const override
	Get the linear Jacobian targeting the origin of a BodyNode. More...

math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf=Frame::World()) const override
	Get the linear Jacobian targeting an offset in a BodyNode. More...

math::AngularJacobian	getAngularJacobian (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const override
	Get the angular Jacobian of a BodyNode. More...

math::Jacobian	getJacobianSpatialDeriv (const JacobianNode *_node) const override
	Get the spatial Jacobian time derivative targeting the origin of a BodyNode. More...

math::Jacobian	getJacobianSpatialDeriv (const JacobianNode _node, const Frame _inCoordinatesOf) const override
	Get the spatial Jacobian time derivative targeting the origin of a BodyNode. More...

math::Jacobian	getJacobianSpatialDeriv (const JacobianNode *_node, const Eigen::Vector3d &_localOffset) const override
	Get the spatial Jacobian time derivative targeting an offset in a BodyNode. More...

math::Jacobian	getJacobianSpatialDeriv (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf) const override
	Get the spatial Jacobian time derivative targeting an offset in a BodyNode. More...

math::Jacobian	getJacobianClassicDeriv (const JacobianNode *_node) const override
	Get the spatial Jacobian (classical) time derivative targeting the origin of a BodyNode. More...

math::Jacobian	getJacobianClassicDeriv (const JacobianNode _node, const Frame _inCoordinatesOf) const override
	Get the spatial Jacobian (classical) time derivative targeting the origin a BodyNode. More...

math::Jacobian	getJacobianClassicDeriv (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf=Frame::World()) const override
	Get the spatial Jacobian (classical) time derivative targeting an offset in a BodyNode. More...

math::LinearJacobian	getLinearJacobianDeriv (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const override
	of a BodyNode. More...

math::LinearJacobian	getLinearJacobianDeriv (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const Frame _inCoordinatesOf=Frame::World()) const override
	Get the linear Jacobian (classical) time derivative targeting an offset in a BodyNode. More...

math::AngularJacobian	getAngularJacobianDeriv (const JacobianNode _node, const Frame _inCoordinatesOf=Frame::World()) const override
	Get the angular Jacobian time derivative of a BodyNode. More...

Equations of Motion
double	getMass () const override
	Get total mass of the skeleton. More...

const Eigen::MatrixXd &	getMassMatrix (std::size_t _treeIdx) const
	Get the mass matrix of a specific tree in the Skeleton. More...

const Eigen::MatrixXd &	getMassMatrix () const override
	Get the Mass Matrix of the MetaSkeleton. More...

const Eigen::MatrixXd &	getAugMassMatrix (std::size_t _treeIdx) const
	Get the augmented mass matrix of a specific tree in the Skeleton. More...

const Eigen::MatrixXd &	getAugMassMatrix () const override
	Get augmented mass matrix of the skeleton. More...

const Eigen::MatrixXd &	getInvMassMatrix (std::size_t _treeIdx) const
	Get the inverse mass matrix of a specific tree in the Skeleton. More...

const Eigen::MatrixXd &	getInvMassMatrix () const override
	Get inverse of Mass Matrix of the MetaSkeleton. More...

const Eigen::MatrixXd &	getInvAugMassMatrix (std::size_t _treeIdx) const
	Get the inverse augmented mass matrix of a tree. More...

const Eigen::MatrixXd &	getInvAugMassMatrix () const override
	Get inverse of augmented Mass Matrix of the MetaSkeleton. More...

const Eigen::VectorXd &	getCoriolisForces (std::size_t _treeIdx) const
	Get the Coriolis force vector of a tree in this Skeleton. More...

const Eigen::VectorXd &	getCoriolisForces () const override
	Get Coriolis force vector of the MetaSkeleton's BodyNodes. More...

const Eigen::VectorXd &	getGravityForces (std::size_t _treeIdx) const
	Get the gravity forces for a tree in this Skeleton. More...

const Eigen::VectorXd &	getGravityForces () const override
	Get gravity force vector of the MetaSkeleton. More...

const Eigen::VectorXd &	getCoriolisAndGravityForces (std::size_t _treeIdx) const
	Get the combined vector of Coriolis force and gravity force of a tree. More...

const Eigen::VectorXd &	getCoriolisAndGravityForces () const override
	Get combined vector of Coriolis force and gravity force of the MetaSkeleton. More...

const Eigen::VectorXd &	getExternalForces (std::size_t _treeIdx) const
	Get the external force vector of a tree in the Skeleton. More...

const Eigen::VectorXd &	getExternalForces () const override
	Get external force vector of the MetaSkeleton. More...

const Eigen::VectorXd &	getConstraintForces (std::size_t _treeIdx) const
	Get damping force of the skeleton. More...

const Eigen::VectorXd &	getConstraintForces () const override
	Get constraint force vector. More...

void	clearExternalForces () override
	Clear the external forces of the BodyNodes in this MetaSkeleton. More...

void	clearInternalForces () override
	Clear the internal forces of the BodyNodes in this MetaSkeleton. More...

void	notifyArticulatedInertiaUpdate (std::size_t _treeIdx)
	Notify that the articulated inertia and everything that depends on it needs to be updated. More...

void	dirtyArticulatedInertia (std::size_t _treeIdx)
	Notify that the articulated inertia and everything that depends on it needs to be updated. More...

void	notifySupportUpdate (std::size_t _treeIdx)
	Notify that the support polygon of a tree needs to be updated. More...

void	dirtySupportPolygon (std::size_t _treeIdx)
	Notify that the support polygon of a tree needs to be updated. More...

double	computeKineticEnergy () const override
	Get the kinetic energy of this MetaSkeleton. More...

double	computePotentialEnergy () const override
	Get the potential energy of this MetaSkeleton. More...

void	clearCollidingBodies () override
	Clear collision flags of the BodyNodes in this MetaSkeleton. More...

Center of Mass Jacobian
Eigen::Vector3d	getCOM (const Frame *_withRespectTo=Frame::World()) const override
	Get the Skeleton's COM with respect to any Frame (default is World Frame) More...

Eigen::Vector6d	getCOMSpatialVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const override
	Get the Skeleton's COM spatial velocity in terms of any Frame (default is World Frame) More...

Eigen::Vector3d	getCOMLinearVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const override
	Get the Skeleton's COM linear velocity in terms of any Frame (default is World Frame) More...

Eigen::Vector6d	getCOMSpatialAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const override
	Get the Skeleton's COM spatial acceleration in terms of any Frame (default is World Frame) More...

Eigen::Vector3d	getCOMLinearAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const override
	Get the Skeleton's COM linear acceleration in terms of any Frame (default is World Frame) More...

math::Jacobian	getCOMJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override
	Get the Skeleton's COM Jacobian in terms of any Frame (default is World Frame) More...

math::LinearJacobian	getCOMLinearJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override
	Get the Skeleton's COM Linear Jacobian in terms of any Frame (default is World Frame) More...

math::Jacobian	getCOMJacobianSpatialDeriv (const Frame *_inCoordinatesOf=Frame::World()) const override
	Get the Skeleton's COM Jacobian spatial time derivative in terms of any Frame (default is World Frame). More...

math::LinearJacobian	getCOMLinearJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const override
	Get the Skeleton's COM Linear Jacobian time derivative in terms of any Frame (default is World Frame). More...

Command
void	setCommand (std::size_t _index, double _command)
	Set a single command. More...

double	getCommand (std::size_t _index) const
	Get a single command. More...

void	setCommands (const Eigen::VectorXd &_commands)
	Set commands for all generalized coordinates. More...

void	setCommands (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_commands)
	Set commands for a subset of the generalized coordinates. More...

Eigen::VectorXd	getCommands () const
	Get commands for all generalized coordinates. More...

Eigen::VectorXd	getCommands (const std::vector< std::size_t > &_indices) const
	Get commands for a subset of the generalized coordinates. More...

void	resetCommands ()
	Set all commands to zero. More...

Position
void	setPosition (std::size_t index, double _position)
	Set the position of a single generalized coordinate. More...

double	getPosition (std::size_t _index) const
	Get the position of a single generalized coordinate. More...

void	setPositions (const Eigen::VectorXd &_positions)
	Set the positions for all generalized coordinates. More...

void	setPositions (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_positions)
	Set the positions for a subset of the generalized coordinates. More...

Eigen::VectorXd	getPositions () const
	Get the positions for all generalized coordinates. More...

Eigen::VectorXd	getPositions (const std::vector< std::size_t > &_indices) const
	Get the positions for a subset of the generalized coordinates. More...

void	resetPositions ()
	Set all positions to zero. More...

void	setPositionLowerLimit (std::size_t _index, double _position)
	Set the lower limit of a generalized coordinate's position. More...

void	setPositionLowerLimits (const Eigen::VectorXd &positions)
	Set the lower limits for all generalized coordinates. More...

void	setPositionLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &positions)
	Set the lower limits for a subset of the generalized coordinates. More...

double	getPositionLowerLimit (std::size_t _index) const
	Get the lower limit of a generalized coordinate's position. More...

Eigen::VectorXd	getPositionLowerLimits () const
	Get the lower limits for all generalized coordinates. More...

Eigen::VectorXd	getPositionLowerLimits (const std::vector< std::size_t > &indices) const
	Get the lower limits for a subset of the generalized coordinates. More...

void	setPositionUpperLimit (std::size_t _index, double _position)
	Set the upper limit of a generalized coordainte's position. More...

void	setPositionUpperLimits (const Eigen::VectorXd &positions)
	Set the upper limits for all generalized coordinates. More...

void	setPositionUpperLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &positions)
	Set the upper limits for a subset of the generalized coordinates. More...

double	getPositionUpperLimit (std::size_t _index) const
	Get the upper limit of a generalized coordinate's position. More...

Eigen::VectorXd	getPositionUpperLimits () const
	Get the upper limits for all generalized coordinates. More...

Eigen::VectorXd	getPositionUpperLimits (const std::vector< std::size_t > &indices) const
	Get the upper limits for a subset of the generalized coordinates. More...

Velocity
void	setVelocity (std::size_t _index, double _velocity)
	Set the velocity of a single generalized coordinate. More...

double	getVelocity (std::size_t _index) const
	Get the velocity of a single generalized coordinate. More...

void	setVelocities (const Eigen::VectorXd &_velocities)
	Set the velocities of all generalized coordinates. More...

void	setVelocities (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_velocities)
	Set the velocities of a subset of the generalized coordinates. More...

Eigen::VectorXd	getVelocities () const
	Get the velocities for all generalized coordinates. More...

Eigen::VectorXd	getVelocities (const std::vector< std::size_t > &_indices) const
	Get the velocities for a subset of the generalized coordinates. More...

void	resetVelocities ()
	Set all velocities to zero. More...

void	setVelocityLowerLimit (std::size_t _index, double _velocity)
	Set the lower limit of a generalized coordinate's velocity. More...

void	setVelocityLowerLimits (const Eigen::VectorXd &velocities)
	Set the lower limits for all generalized coordinates's velocity. More...

void	setVelocityLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &velocities)
	Set the lower limits for a subset of the generalized coordinates's velocity. More...

double	getVelocityLowerLimit (std::size_t _index)
	Get the lower limit of a generalized coordinate's velocity. More...

Eigen::VectorXd	getVelocityLowerLimits () const
	Get the lower limits for all generalized coordinates's velocity. More...

Eigen::VectorXd	getVelocityLowerLimits (const std::vector< std::size_t > &indices) const
	Get the lower limits for a subset of the generalized coordinates's velocity. More...

void	setVelocityUpperLimit (std::size_t _index, double _velocity)
	Set the upper limit of a generalized coordinate's velocity. More...

void	setVelocityUpperLimits (const Eigen::VectorXd &velocities)
	Set the upper limits for all generalized coordinates's velocity. More...

void	setVelocityUpperLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &velocities)
	Set the upper limits for a subset of the generalized coordinates's velocity. More...

double	getVelocityUpperLimit (std::size_t _index)
	Get the upper limit of a generalized coordinate's velocity. More...

Eigen::VectorXd	getVelocityUpperLimits () const
	Get the upper limits for all generalized coordinates's velocity. More...

Eigen::VectorXd	getVelocityUpperLimits (const std::vector< std::size_t > &indices) const
	Get the upper limits for a subset of the generalized coordinates's velocity. More...

Acceleration
void	setAcceleration (std::size_t _index, double _acceleration)
	Set the acceleration of a single generalized coordinate. More...

double	getAcceleration (std::size_t _index) const
	Get the acceleration of a single generalized coordinate. More...

void	setAccelerations (const Eigen::VectorXd &_accelerations)
	Set the accelerations of all generalized coordinates. More...

void	setAccelerations (const std::vector< std::size_t > &_indices, const Eigen::VectorXd &_accelerations)
	Set the accelerations of a subset of the generalized coordinates. More...

Eigen::VectorXd	getAccelerations () const
	Get the accelerations for all generalized coordinates. More...

Eigen::VectorXd	getAccelerations (const std::vector< std::size_t > &_indices) const
	Get the accelerations for a subset of the generalized coordinates. More...

void	resetAccelerations ()
	Set all accelerations to zero. More...

void	setAccelerationLowerLimit (std::size_t _index, double _acceleration)
	Set the lower limit of a generalized coordinate's acceleration. More...

void	setAccelerationLowerLimits (const Eigen::VectorXd &accelerations)
	Set the lower limits for all generalized coordinates's acceleration. More...

void	setAccelerationLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &accelerations)
	Set the lower limits for a subset of the generalized coordinates's acceleration. More...

double	getAccelerationLowerLimit (std::size_t _index) const
	Get the lower limit of a generalized coordinate's acceleration. More...

Eigen::VectorXd	getAccelerationLowerLimits () const
	Get the lower limits for all generalized coordinates's acceleration. More...

Eigen::VectorXd	getAccelerationLowerLimits (const std::vector< std::size_t > &indices) const
	Get the lower limits for a subset of the generalized coordinates's acceleration. More...

void	setAccelerationUpperLimit (std::size_t _index, double _acceleration)
	Set the upper limit of a generalized coordinate's acceleration. More...

void	setAccelerationUpperLimits (const Eigen::VectorXd &accelerations)
	Set the upper limits for all generalized coordinates's acceleration. More...

void	setAccelerationUpperLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &accelerations)
	Set the upper limits for a subset of the generalized coordinates's acceleration. More...

double	getAccelerationUpperLimit (std::size_t _index) const
	Get the upper limit of a generalized coordinate's acceleration. More...

Eigen::VectorXd	getAccelerationUpperLimits () const
	Get the upper limits for all generalized coordinates's acceleration. More...

Eigen::VectorXd	getAccelerationUpperLimits (const std::vector< std::size_t > &indices) const
	Get the upper limits for a subset of the generalized coordinates's acceleration. More...

Force
void	setForce (std::size_t _index, double _force)
	Set the force of a single generalized coordinate. More...

double	getForce (std::size_t _index) const
	Get the force of a single generalized coordinate. More...

void	setForces (const Eigen::VectorXd &_forces)
	Set the forces of all generalized coordinates. More...

void	setForces (const std::vector< std::size_t > &_index, const Eigen::VectorXd &_forces)
	Set the forces of a subset of the generalized coordinates. More...

Eigen::VectorXd	getForces () const
	Get the forces for all generalized coordinates. More...

Eigen::VectorXd	getForces (const std::vector< std::size_t > &_indices) const
	Get the forces for a subset of the generalized coordinates. More...

void	resetGeneralizedForces ()
	Set all forces of the generalized coordinates to zero. More...

void	setForceLowerLimit (std::size_t _index, double _force)
	Set the lower limit of a generalized coordinate's force. More...

void	setForceLowerLimits (const Eigen::VectorXd &forces)
	Set the lower limits for all generalized coordinates's force. More...

void	setForceLowerLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &forces)
	Set the lower limits for a subset of the generalized coordinates's force. More...

double	getForceLowerLimit (std::size_t _index) const
	Get the lower limit of a generalized coordinate's force. More...

Eigen::VectorXd	getForceLowerLimits () const
	Get the lower limits for all generalized coordinates's force. More...

Eigen::VectorXd	getForceLowerLimits (const std::vector< std::size_t > &indices) const
	Get the lower limits for a subset of the generalized coordinates's force. More...

void	setForceUpperLimit (std::size_t _index, double _force)
	Set the upper limit of a generalized coordinate's force. More...

void	setForceUpperLimits (const Eigen::VectorXd &forces)
	Set the upperlimits for all generalized coordinates's force. More...

void	setForceUpperLimits (const std::vector< std::size_t > &indices, const Eigen::VectorXd &forces)
	Set the upper limits for a subset of the generalized coordinates's force. More...

double	getForceUpperLimit (std::size_t _index) const
	Get the upper limit of a generalized coordinate's force. More...

Eigen::VectorXd	getForceUpperLimits () const
	Get the upper limits for all generalized coordinates's force. More...

Eigen::VectorXd	getForceUpperLimits (const std::vector< std::size_t > &indices) const
	Get the upper limits for a subset of the generalized coordinates's force. More...

Velocity Change
Eigen::VectorXd	getVelocityChanges () const
	Get the velocity changes for all the generalized coordinates. More...

Constraint Impulse
void	setJointConstraintImpulses (const Eigen::VectorXd &_impulses)
	Set the constraint impulses for the generalized coordinates. More...

Eigen::VectorXd	getJointConstraintImpulses () const
	Get the constraint impulses for the generalized coordinates. More...

Jacobians
math::Jacobian	getJacobian (const JacobianNode _node, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf) const
	Get the spatial Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...

math::Jacobian	getJacobian (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf) const
	Get the spatial Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton. More...

math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const
	Get the linear Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...

math::LinearJacobian	getLinearJacobian (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const
	Get the linear Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton. More...

Jacobian derivatives
math::AngularJacobian	getAngularJacobian (const JacobianNode _node, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf=Frame::World()) const
	Get the angular Jacobian of a BodyNode relative to another BodyNode in the same Skeleton. More...

math::Jacobian	getJacobianSpatialDeriv (const JacobianNode _node, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf) const
	Get the spatial Jacobian time derivative targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton. More...

math::Jacobian	getJacobianSpatialDeriv (const JacobianNode _node, const Eigen::Vector3d &_localOffset, const JacobianNode _relativeTo, const Frame *_inCoordinatesOf) const
	Get the spatial Jacobian time derivative targeting an offset in a BodyNode relative to another Bodynode in the same Skeleton. More...

Equations of Motion
double	computeLagrangian () const
	Compute and return Lagrangian of this MetaSkeleton. More...

double	getKineticEnergy () const
	Get the kinetic energy of this MetaSkeleton. More...

double	getPotentialEnergy () const
	Get the potential energy of this MetaSkeleton. More...

Public Attributes
std::weak_ptr< Skeleton >	mUnionRootSkeleton

std::size_t	mUnionSize

std::size_t	mUnionIndex

common::SlotRegister< NameChangedSignal >	onNameChanged

Protected Types
using	SpecializedTreeNodes = std::map< std::type_index, std::vector< NodeMap::iterator > * >

Protected Member Functions
	Skeleton (const AspectPropertiesData &_properties)
	Constructor called by create() More...

void	setPtr (const SkeletonPtr &_ptr)
	Setup this Skeleton with its shared_ptr. More...

void	constructNewTree ()
	Construct a new tree in the Skeleton. More...

void	registerBodyNode (BodyNode *_newBodyNode)
	Register a BodyNode with the Skeleton. Internal use only. More...

void	registerJoint (Joint *_newJoint)
	Register a Joint with the Skeleton. Internal use only. More...

void	registerNode (NodeMap &nodeMap, Node *_newNode, std::size_t &_index)
	Register a Node with the Skeleton. Internal use only. More...

void	registerNode (Node *_newNode)
	Register a Node with the Skeleton. Internal use only. More...

void	destructOldTree (std::size_t tree)
	Remove an old tree from the Skeleton. More...

void	unregisterBodyNode (BodyNode *_oldBodyNode)
	Remove a BodyNode from the Skeleton. Internal use only. More...

void	unregisterJoint (Joint *_oldJoint)
	Remove a Joint from the Skeleton. Internal use only. More...

void	unregisterNode (NodeMap &nodeMap, Node *_oldNode, std::size_t &_index)
	Remove a Node from the Skeleton. Internal use only. More...

void	unregisterNode (Node *_oldNode)
	Remove a Node from the Skeleton. Internal use only. More...

bool	moveBodyNodeTree (Joint _parentJoint, BodyNode _bodyNode, SkeletonPtr _newSkeleton, BodyNode *_parentNode)
	Move a subtree of BodyNodes from this Skeleton to another Skeleton. More...

template<class JointType >
JointType *	moveBodyNodeTree (BodyNode _bodyNode, const SkeletonPtr &_newSkeleton, BodyNode _parentNode, const typename JointType::Properties &_joint)
	Move a subtree of BodyNodes from this Skeleton to another Skeleton while changing the Joint type of the top parent Joint. More...

std::pair< Joint , BodyNode >	cloneBodyNodeTree (Joint _parentJoint, const BodyNode _bodyNode, const SkeletonPtr &_newSkeleton, BodyNode *_parentNode, bool _recursive) const
	Copy a subtree of BodyNodes onto another Skeleton while leaving the originals intact. More...

template<class JointType >
std::pair< JointType , BodyNode >	cloneBodyNodeTree (const BodyNode _bodyNode, const SkeletonPtr &_newSkeleton, BodyNode _parentNode, const typename JointType::Properties &_joint, bool _recursive) const
	Copy a subtree of BodyNodes onto another Skeleton while leaving the originals intact, but alter the top parent Joint to a new type. More...

std::vector< const BodyNode * >	constructBodyNodeTree (const BodyNode *_bodyNode) const
	Create a vector representation of a subtree of BodyNodes. More...

std::vector< BodyNode * >	constructBodyNodeTree (BodyNode *_bodyNode)

std::vector< BodyNode * >	extractBodyNodeTree (BodyNode *_bodyNode)
	Create a vector representation of a subtree of BodyNodes and remove that subtree from this Skeleton without deleting them. More...

void	receiveBodyNodeTree (const std::vector< BodyNode * > &_tree)
	Take in and register a subtree of BodyNodes. More...

void	updateTotalMass ()
	Update the computation for total mass. More...

void	updateCacheDimensions (DataCache &_cache)
	Update the dimensions for a specific cache. More...

void	updateCacheDimensions (std::size_t _treeIdx)
	Update the dimensions for a tree's cache. More...

void	updateArticulatedInertia (std::size_t _tree) const
	Update the articulated inertia of a tree. More...

void	updateArticulatedInertia () const
	Update the articulated inertias of the skeleton. More...

void	updateMassMatrix (std::size_t _treeIdx) const
	Update the mass matrix of a tree. More...

void	updateMassMatrix () const
	Update mass matrix of the skeleton. More...

void	updateAugMassMatrix (std::size_t _treeIdx) const

void	updateAugMassMatrix () const
	Update augmented mass matrix of the skeleton. More...

void	updateInvMassMatrix (std::size_t _treeIdx) const
	Update the inverse mass matrix of a tree. More...

void	updateInvMassMatrix () const
	Update inverse of mass matrix of the skeleton. More...

void	updateInvAugMassMatrix (std::size_t _treeIdx) const
	Update the inverse augmented mass matrix of a tree. More...

void	updateInvAugMassMatrix () const
	Update inverse of augmented mass matrix of the skeleton. More...

void	updateCoriolisForces (std::size_t _treeIdx) const
	Update Coriolis force vector for a tree in the Skeleton. More...

void	updateCoriolisForces () const
	Update Coriolis force vector of the skeleton. More...

void	updateGravityForces (std::size_t _treeIdx) const
	Update the gravity force vector of a tree. More...

void	updateGravityForces () const
	Update gravity force vector of the skeleton. More...

void	updateCoriolisAndGravityForces (std::size_t _treeIdx) const
	Update the combined vector for a tree in this Skeleton. More...

void	updateCoriolisAndGravityForces () const
	Update combined vector of the skeleton. More...

void	updateExternalForces (std::size_t _treeIdx) const
	Update external force vector to generalized forces for a tree. More...

void	updateExternalForces () const
	update external force vector to generalized forces. More...

const Eigen::VectorXd &	computeConstraintForces (DataCache &cache) const
	Compute the constraint force vector for a tree. More...

const std::string &	addEntryToBodyNodeNameMgr (BodyNode *_newNode)
	Add a BodyNode to the BodyNode NameManager. More...

const std::string &	addEntryToJointNameMgr (Joint *_newJoint, bool _updateDofNames=true)
	Add a Joint to to the Joint NameManager. More...

void	addEntryToSoftBodyNodeNameMgr (SoftBodyNode *_newNode)
	Add a SoftBodyNode to the SoftBodyNode NameManager. More...

void	updateNameManagerNames ()

void	setVersionDependentObject (VersionCounter *dependent)

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

Protected Attributes
std::weak_ptr< Skeleton >	mPtr
	The resource-managing pointer to this Skeleton. More...

std::vector< SoftBodyNode * >	mSoftBodyNodes
	List of Soft body node list in the skeleton. More...

dart::common::NameManager< BodyNode * >	mNameMgrForBodyNodes
	NameManager for tracking BodyNodes. More...

dart::common::NameManager< Joint * >	mNameMgrForJoints
	NameManager for tracking Joints. More...

dart::common::NameManager< DegreeOfFreedom * >	mNameMgrForDofs
	NameManager for tracking DegreesOfFreedom. More...

dart::common::NameManager< SoftBodyNode * >	mNameMgrForSoftBodyNodes
	NameManager for tracking SoftBodyNodes. More...

std::shared_ptr< WholeBodyIK >	mWholeBodyIK
	WholeBodyIK module for this Skeleton. More...

common::aligned_vector< DataCache >	mTreeCache

DataCache	mSkelCache

SpecializedTreeNodes	mSpecializedTreeNodes

double	mTotalMass
	Total mass. More...

bool	mIsImpulseApplied
	Flag for status of impulse testing. More...

std::mutex	mMutex

std::size_t	mVersion

NameChangedSignal	mNameChangedSignal

std::set< Observer * >	mObservers
	List of current Observers. More...

AspectProperties	mAspectProperties
	Aspect::Properties data, directly accessible to your derived class. More...

Private Attributes
VersionCounter *	mDependent

Friends
class	BodyNode

class	SoftBodyNode

class	Joint

template<class >
class	GenericJoint

class	DegreeOfFreedom

class	Node

class	ShapeNode

class	EndEffector

Constructor and Destructor
static SkeletonPtr	create (const std::string &_name="Skeleton")
	Create a new Skeleton inside of a shared_ptr. More...

static SkeletonPtr	create (const AspectPropertiesData &properties)
	Create a new Skeleton inside of a shared_ptr. More...

SkeletonPtr	getPtr ()
	Get the shared_ptr that manages this Skeleton. More...

ConstSkeletonPtr	getPtr () const
	Get the shared_ptr that manages this Skeleton. More...

SkeletonPtr	getSkeleton ()
	Same as getPtr(), but this allows Skeleton to have a similar interface as BodyNode and Joint for template programming. More...

ConstSkeletonPtr	getSkeleton () const
	Same as getPtr(), but this allows Skeleton to have a similar interface as BodyNode and Joint for template programming. More...

std::mutex &	getMutex () const
	Get the mutex that protects the state of this Skeleton. More...

std::unique_ptr< common::LockableReference >	getLockableReference () const override
	Get the mutex that protects the state of this Skeleton. More...

	Skeleton (const Skeleton &)=delete

virtual	~Skeleton ()
	Destructor. More...

Skeleton &	operator= (const Skeleton &_other)=delete
	Remove copy operator. More...

SkeletonPtr	clone () const
	Create an identical clone of this Skeleton. More...

SkeletonPtr	clone (const std::string &cloneName) const
	Create an identical clone of this Skeleton, except that it has a new name. More...

SkeletonPtr	cloneSkeleton () const
	Creates and returns a clone of this Skeleton. More...

SkeletonPtr	cloneSkeleton (const std::string &cloneName) const
	Creates and returns a clone of this Skeleton. More...

MetaSkeletonPtr	cloneMetaSkeleton (const std::string &cloneName) const override
	Creates an identical clone of this MetaSkeleton. More...

Detailed Description

class Skeleton

Member Typedef Documentation

◆ Aspect

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Aspect = typename Impl::Aspect

inherited

◆ AspectProperties

using dart::dynamics::Skeleton::AspectProperties = common::Aspect::MakeProperties<AspectPropertiesData>

◆ AspectPropertiesData

using dart::dynamics::Skeleton::AspectPropertiesData = detail::SkeletonAspectProperties

◆ Base

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Base = CompositeJoiner<Impl, CompositeBases...>

inherited

◆ Derived

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Derived = typename Impl::Derived

inherited

◆ Impl

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

using dart::common::EmbedPropertiesOnTopOf< DerivedT, PropertiesDataT, CompositeBases >::Impl = EmbedProperties<DerivedT, PropertiesDataT>

inherited

◆ NameChangedSignal

using dart::dynamics::MetaSkeleton::NameChangedSignal = common::Signal<void( std::shared_ptr<const MetaSkeleton> _skeleton, const std::string& _oldName, const std::string& _newName)>

inherited

◆ Properties

using dart::dynamics::Skeleton::Properties = common::Composite::Properties

◆ SpecializedTreeNodes

using dart::dynamics::Skeleton::SpecializedTreeNodes = std::map<std::type_index, std::vector<NodeMap::iterator>*>

protected

◆ State

using dart::dynamics::Skeleton::State = common::Composite::State

Member Enumeration Documentation

◆ ConfigFlags

enum dart::dynamics::Skeleton::ConfigFlags

Enumerator
CONFIG_NOTHING
CONFIG_POSITIONS
CONFIG_VELOCITIES
CONFIG_ACCELERATIONS
CONFIG_FORCES
CONFIG_COMMANDS
CONFIG_ALL

Constructor & Destructor Documentation

◆ Skeleton() [1/2]

dart::dynamics::Skeleton::Skeleton ( const Skeleton & )

delete

◆ ~Skeleton()

dart::dynamics::Skeleton::~Skeleton ( )

virtual

Destructor.

◆ Skeleton() [2/2]

dart::dynamics::Skeleton::Skeleton ( const AspectPropertiesData & _properties )

protected

Constructor called by create()

Member Function Documentation

◆ addEntryToBodyNodeNameMgr()

const std::string & dart::dynamics::Skeleton::addEntryToBodyNodeNameMgr ( BodyNode * _newNode )

protected

Add a BodyNode to the BodyNode NameManager.

◆ addEntryToJointNameMgr()

const std::string & dart::dynamics::Skeleton::addEntryToJointNameMgr	(	Joint *	_newJoint,
		bool	_updateDofNames = `true`
	)

protected

Add a Joint to to the Joint NameManager.

◆ addEntryToSoftBodyNodeNameMgr()

void dart::dynamics::Skeleton::addEntryToSoftBodyNodeNameMgr ( SoftBodyNode * _newNode )

protected

Add a SoftBodyNode to the SoftBodyNode NameManager.

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ checkIndexingConsistency()

bool dart::dynamics::Skeleton::checkIndexingConsistency ( ) const

This function is only meant for debugging purposes.

It will verify that all objects held in the Skeleton have the correct information about their indexing.

◆ clearCollidingBodies()

void dart::dynamics::Skeleton::clearCollidingBodies ( )

overridevirtual

Clear collision flags of the BodyNodes in this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ clearConstraintImpulses()

void dart::dynamics::Skeleton::clearConstraintImpulses ( )

Clear constraint impulses and cache data used for impulse-based forward dynamics algorithm, where the constraint impulses are spatial constraints on the BodyNodes and generalized constraints on the Joints.

◆ clearExternalForces()

void dart::dynamics::Skeleton::clearExternalForces ( )

overridevirtual

Clear the external forces of the BodyNodes in this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ clearIK()

void dart::dynamics::Skeleton::clearIK ( )

Wipe away the WholeBodyIK module for this Skeleton, leaving it as a nullptr.

◆ clearInternalForces()

void dart::dynamics::Skeleton::clearInternalForces ( )

overridevirtual

Clear the internal forces of the BodyNodes in this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ clone() [1/2]

SkeletonPtr dart::dynamics::Skeleton::clone ( ) const

Create an identical clone of this Skeleton.

Deprecated:: Deprecated in DART 6.7. Please use cloneSkeleton() instead.

◆ clone() [2/2]

SkeletonPtr dart::dynamics::Skeleton::clone ( const std::string & cloneName ) const

Create an identical clone of this Skeleton, except that it has a new name.

Deprecated:: Deprecated in DART 6.7. Please use cloneSkeleton() instead.

◆ cloneBodyNodeTree() [1/2]

template<class JointType >

std::pair< JointType , BodyNode > dart::dynamics::Skeleton::cloneBodyNodeTree	(	const BodyNode *	_bodyNode,
		const SkeletonPtr &	_newSkeleton,
		BodyNode *	_parentNode,
		const typename JointType::Properties &	_joint,
		bool	_recursive
	)		const

protected

Copy a subtree of BodyNodes onto another Skeleton while leaving the originals intact, but alter the top parent Joint to a new type.

◆ cloneBodyNodeTree() [2/2]

std::pair< Joint , BodyNode > dart::dynamics::Skeleton::cloneBodyNodeTree	(	Joint *	_parentJoint,
		const BodyNode *	_bodyNode,
		const SkeletonPtr &	_newSkeleton,
		BodyNode *	_parentNode,
		bool	_recursive
	)		const

protected

Copy a subtree of BodyNodes onto another Skeleton while leaving the originals intact.

◆ cloneMetaSkeleton() [1/2]

MetaSkeletonPtr dart::dynamics::MetaSkeleton::cloneMetaSkeleton ( ) const

inherited

Creates an identical clone of this MetaSkeleton.

◆ cloneMetaSkeleton() [2/2]

MetaSkeletonPtr dart::dynamics::Skeleton::cloneMetaSkeleton ( const std::string & cloneName ) const

overridevirtual

Creates an identical clone of this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ cloneSkeleton() [1/2]

SkeletonPtr dart::dynamics::Skeleton::cloneSkeleton ( ) const

Creates and returns a clone of this Skeleton.

◆ cloneSkeleton() [2/2]

SkeletonPtr dart::dynamics::Skeleton::cloneSkeleton ( const std::string & cloneName ) const

Creates and returns a clone of this Skeleton.

◆ computeConstraintForces()

const Eigen::VectorXd & dart::dynamics::Skeleton::computeConstraintForces ( DataCache & cache ) const

protected

Compute the constraint force vector for a tree.

◆ computeForwardDynamics()

void dart::dynamics::Skeleton::computeForwardDynamics ( )

Compute forward dynamics.

◆ computeForwardKinematics()

void dart::dynamics::Skeleton::computeForwardKinematics	(	bool	_updateTransforms = `true`,
		bool	_updateVels = `true`,
		bool	_updateAccs = `true`
	)

Compute forward kinematics.

In general, this function doesn't need to be called for forward kinematics to update. Forward kinematics will always be computed when it's needed and will only perform the computations that are necessary for what the user requests. This works by performing some bookkeeping internally with dirty flags whenever a position, velocity, or acceleration is set, either internally or by the user.

On one hand, this results in some overhead due to the extra effort of bookkeeping, but on the other hand we have much greater code safety, and in some cases performance can be dramatically improved with the auto- updating. For example, this function is inefficient when only one portion of the BodyNodes needed to be updated rather than the entire Skeleton, which is common when performing inverse kinematics on a limb or on some subsection of a Skeleton.

This function might be useful in a case where the user wants to perform all the forward kinematics computations during a particular time window rather than waiting for it to be computed at the exact time that it's needed.

One example would be a real time controller. Let's say a controller gets encoder data at time t0 but needs to wait until t1 before it receives the force-torque sensor data that it needs in order to compute the output for an operational space controller. Instead of being idle from t0 to t1, it could use that time to compute the forward kinematics by calling this function.

◆ computeImpulseForwardDynamics()

void dart::dynamics::Skeleton::computeImpulseForwardDynamics ( )

Compute impulse-based forward dynamics.

◆ computeInverseDynamics()

void dart::dynamics::Skeleton::computeInverseDynamics	(	bool	_withExternalForces = `false`,
		bool	_withDampingForces = `false`,
		bool	_withSpringForces = `false`
	)

Computes inverse dynamics.

The inverse dynamics is computed according to the following equations of motion:

\( M(q) \ddot{q} + C(q, \dot{q}) + N(q) - \tau_{\text{ext}} - \tau_d - \tau_s = \tau \)

where \( \tau_{\text{ext}} \), \( \tau_d \), and \( \tau_s \) are external forces, joint damping forces, and joint spring forces projected on to the joint space, respectively. This function provides three flags whether to take into account each forces in computing the joint forces, \( \tau_d \). Not accounting each forces implies that the forces is added to \( \tau \) in order to keep the equation equivalent. If there forces are zero (by setting external forces, damping coeff, spring stiffness zeros), these flags have no effect.

Once this function is called, the joint forces, \( \tau \), can be obtained by calling getForces().

Parameters

[in]	_withExternalForces	Set `true` to take external forces into account.
[in]	_withDampingForces	Set `true` to take damping forces into account.
[in]	_withSpringForces	Set `true` to take spring forces into account.

◆ computeKineticEnergy()

double dart::dynamics::Skeleton::computeKineticEnergy ( ) const

overridevirtual

Get the kinetic energy of this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ computeLagrangian()

double dart::dynamics::MetaSkeleton::computeLagrangian ( ) const

inherited

Compute and return Lagrangian of this MetaSkeleton.

◆ computePotentialEnergy()

double dart::dynamics::Skeleton::computePotentialEnergy ( ) const

overridevirtual

Get the potential energy of this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ constructBodyNodeTree() [1/2]

std::vector< BodyNode * > dart::dynamics::Skeleton::constructBodyNodeTree ( BodyNode * _bodyNode )

protected

◆ constructBodyNodeTree() [2/2]

std::vector< const BodyNode * > dart::dynamics::Skeleton::constructBodyNodeTree ( const BodyNode * _bodyNode ) const

protected

Create a vector representation of a subtree of BodyNodes.

◆ constructNewTree()

void dart::dynamics::Skeleton::constructNewTree ( )

protected

Construct a new tree in the Skeleton.

◆ create() [1/2]

SkeletonPtr dart::dynamics::Skeleton::create ( const AspectPropertiesData & properties )

static

Create a new Skeleton inside of a shared_ptr.

◆ create() [2/2]

SkeletonPtr dart::dynamics::Skeleton::create ( const std::string & _name = "Skeleton" )

static

Create a new Skeleton inside of a shared_ptr.

◆ createIK()

const std::shared_ptr< WholeBodyIK > & dart::dynamics::Skeleton::createIK ( )

Create a new WholeBodyIK module for this Skeleton.

If an IK module already exists in this Skeleton, it will be destroyed and replaced by a brand new one.

◆ createJointAndBodyNodePair()

template<class JointType , class NodeType >

std::pair< JointType , NodeType > dart::dynamics::Skeleton::createJointAndBodyNodePair	(	BodyNode *	_parent = `nullptr`,
		const typename JointType::Properties &	_jointProperties = `typename JointType::Properties()`,
		const typename NodeType::Properties &	_bodyProperties = `typename NodeType::Properties()`
	)

Create a Joint and child BodyNode pair of the given types.

When creating a root (parentless) BodyNode, pass in nullptr for the _parent argument.

◆ destructOldTree()

void dart::dynamics::Skeleton::destructOldTree ( std::size_t tree )

protected

Remove an old tree from the Skeleton.

◆ dirtyArticulatedInertia()

void dart::dynamics::Skeleton::dirtyArticulatedInertia ( std::size_t _treeIdx )

Notify that the articulated inertia and everything that depends on it needs to be updated.

◆ dirtySupportPolygon()

void dart::dynamics::Skeleton::dirtySupportPolygon ( std::size_t _treeIdx )

Notify that the support polygon of a tree needs to be updated.

◆ disableAdjacentBodyCheck()

void dart::dynamics::Skeleton::disableAdjacentBodyCheck ( )

Disable collision check for adjacent bodies.

This option is effective only when the self-collision check is enabled.

◆ disableSelfCollision()

void dart::dynamics::Skeleton::disableSelfCollision ( )

Deprecated. Please use disableSelfCollisionCheck() instead.

◆ disableSelfCollisionCheck()

void dart::dynamics::Skeleton::disableSelfCollisionCheck ( )

Disable self-collision check.

◆ enableAdjacentBodyCheck()

void dart::dynamics::Skeleton::enableAdjacentBodyCheck ( )

Enable collision check for adjacent bodies.

This option is effective only when the self-collision check is enabled.

◆ enableSelfCollision()

void dart::dynamics::Skeleton::enableSelfCollision ( bool enableAdjacentBodyCheck = false )

Deprecated.

Please use enableSelfCollisionCheck() and setAdjacentBodyCheck() instead.

◆ enableSelfCollisionCheck()

void dart::dynamics::Skeleton::enableSelfCollisionCheck ( )

Enable self-collision check.

◆ extractBodyNodeTree()

std::vector< BodyNode * > dart::dynamics::Skeleton::extractBodyNodeTree ( BodyNode * _bodyNode )

protected

Create a vector representation of a subtree of BodyNodes and remove that subtree from this Skeleton without deleting them.

◆ getAcceleration()

double dart::dynamics::MetaSkeleton::getAcceleration ( std::size_t _index ) const

inherited

Get the acceleration of a single generalized coordinate.

◆ getAccelerationLowerLimit()

double dart::dynamics::MetaSkeleton::getAccelerationLowerLimit ( std::size_t _index ) const

inherited

Get the lower limit of a generalized coordinate's acceleration.

◆ getAccelerationLowerLimits() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getAccelerationLowerLimits ( ) const

inherited

Get the lower limits for all generalized coordinates's acceleration.

◆ getAccelerationLowerLimits() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getAccelerationLowerLimits ( const std::vector< std::size_t > & indices ) const

inherited

Get the lower limits for a subset of the generalized coordinates's acceleration.

◆ getAccelerations() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getAccelerations ( ) const

inherited

Get the accelerations for all generalized coordinates.

◆ getAccelerations() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getAccelerations ( const std::vector< std::size_t > & _indices ) const

inherited

Get the accelerations for a subset of the generalized coordinates.

◆ getAccelerationUpperLimit()

double dart::dynamics::MetaSkeleton::getAccelerationUpperLimit ( std::size_t _index ) const

inherited

Get the upper limit of a generalized coordinate's acceleration.

◆ getAccelerationUpperLimits() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getAccelerationUpperLimits ( ) const

inherited

Get the upper limits for all generalized coordinates's acceleration.

◆ getAccelerationUpperLimits() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getAccelerationUpperLimits ( const std::vector< std::size_t > & indices ) const

inherited

Get the upper limits for a subset of the generalized coordinates's acceleration.

◆ getAdjacentBodyCheck()

bool dart::dynamics::Skeleton::getAdjacentBodyCheck ( ) const

Return whether adjacent body check is enabled.

◆ getAngularJacobian() [1/4]

math::AngularJacobian dart::dynamics::Skeleton::getAngularJacobian	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the angular Jacobian of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getAngularJacobian() [2/4]

virtual math::AngularJacobian dart::dynamics::MetaSkeleton::getAngularJacobian

Get the angular Jacobian of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

◆ getAngularJacobian() [3/4]

math::AngularJacobian dart::dynamics::MetaSkeleton::getAngularJacobian	(	const JacobianNode *	_node,
		const JacobianNode *	_relativeTo,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the angular Jacobian of a BodyNode relative to another BodyNode in the same Skeleton.

You can specify a coordinate Frame to express the Jacobian in.

◆ getAngularJacobian() [4/4]

math::AngularJacobian dart::dynamics::MetaSkeleton::getAngularJacobian

Get the angular Jacobian of a BodyNode relative to another BodyNode in the same Skeleton.

You can specify a coordinate Frame to express the Jacobian in.

◆ getAngularJacobianDeriv() [1/2]

math::AngularJacobian dart::dynamics::Skeleton::getAngularJacobianDeriv	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the angular Jacobian time derivative of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getAngularJacobianDeriv() [2/2]

virtual math::AngularJacobian dart::dynamics::MetaSkeleton::getAngularJacobianDeriv

Get the angular Jacobian time derivative of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

◆ getAspectProperties()

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

const AspectProperties& dart::common::EmbedProperties< DerivedT, PropertiesDataT >::getAspectProperties

inlineinherited

◆ getAugMassMatrix() [1/2]

const Eigen::MatrixXd & dart::dynamics::Skeleton::getAugMassMatrix ( ) const

overridevirtual

Get augmented mass matrix of the skeleton.

This matrix is used in ConstraintDynamics to compute constraint forces. The matrix is M + h*D + h*h*K where D is diagonal joint damping coefficient matrix, K is diagonal joint stiffness matrix, and h is simulation time step.

Implements dart::dynamics::MetaSkeleton.

◆ getAugMassMatrix() [2/2]

const Eigen::MatrixXd & dart::dynamics::Skeleton::getAugMassMatrix ( std::size_t _treeIdx ) const

Get the augmented mass matrix of a specific tree in the Skeleton.

◆ getBodyNode() [1/4]

const BodyNode * dart::dynamics::Skeleton::getBodyNode ( const std::string & name ) const

overridevirtual

Returns the BodyNode of given name.

Parameters

[in] name The BodyNode name that want to search.

Returns: The body node of given name.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNode() [2/4]

BodyNode * dart::dynamics::Skeleton::getBodyNode ( const std::string & name )

overridevirtual

Returns the BodyNode of given name.

Parameters

[in] name The BodyNode name that want to search.

Returns: The body node of given name.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNode() [3/4]

const BodyNode * dart::dynamics::Skeleton::getBodyNode ( std::size_t _idx ) const

overridevirtual

Get const BodyNode whose index is _idx.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNode() [4/4]

BodyNode * dart::dynamics::Skeleton::getBodyNode ( std::size_t _idx )

overridevirtual

Get BodyNode whose index is _idx.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNodes() [1/4]

const std::vector< const BodyNode * > & dart::dynamics::Skeleton::getBodyNodes ( ) const

overridevirtual

Get all the BodyNodes that are held by this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNodes() [2/4]

const std::vector< BodyNode * > & dart::dynamics::Skeleton::getBodyNodes ( )

overridevirtual

Get all the BodyNodes that are held by this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNodes() [3/4]

std::vector< const BodyNode * > dart::dynamics::Skeleton::getBodyNodes ( const std::string & name ) const

overridevirtual

Returns all the BodyNodes of given name.

Parameters

[in] name The BodyNode name that want to search.

Returns: The list of BodyNodes of given name.

Note: Skeleton always guarantees name uniqueness for BodyNodes and Joints. So this function returns the single BodyNode of the given name if it exists.

Implements dart::dynamics::MetaSkeleton.

◆ getBodyNodes() [4/4]

std::vector< BodyNode * > dart::dynamics::Skeleton::getBodyNodes ( const std::string & name )

overridevirtual

Returns all the BodyNodes of given name.

Parameters

[in] name The BodyNode name that want to search.

Returns: The list of BodyNodes of given name.

Note: Skeleton always guarantees name uniqueness for BodyNodes and Joints. So this function returns the single BodyNode of the given name if it exists.

Implements dart::dynamics::MetaSkeleton.

◆ getCOM()

Eigen::Vector3d dart::dynamics::Skeleton::getCOM ( const Frame * _withRespectTo = Frame::World() ) const

overridevirtual

Get the Skeleton's COM with respect to any Frame (default is World Frame)

Implements dart::dynamics::MetaSkeleton.

◆ getCOMJacobian()

math::Jacobian dart::dynamics::Skeleton::getCOMJacobian ( const Frame * _inCoordinatesOf = Frame::World() ) const

overridevirtual

Get the Skeleton's COM Jacobian in terms of any Frame (default is World Frame)

Implements dart::dynamics::MetaSkeleton.

◆ getCOMJacobianSpatialDeriv()

math::Jacobian dart::dynamics::Skeleton::getCOMJacobianSpatialDeriv ( const Frame * _inCoordinatesOf = Frame::World() ) const

overridevirtual

Get the Skeleton's COM Jacobian spatial time derivative in terms of any Frame (default is World Frame).

NOTE: Since this is a spatial time derivative, it is only meant to be used with spatial acceleration vectors. If you are using classical linear vectors, then use getCOMLinearJacobianDeriv() instead.

Implements dart::dynamics::MetaSkeleton.

◆ getCOMLinearAcceleration()

Eigen::Vector3d dart::dynamics::Skeleton::getCOMLinearAcceleration	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the Skeleton's COM linear acceleration in terms of any Frame (default is World Frame)

Implements dart::dynamics::MetaSkeleton.

◆ getCOMLinearJacobian()

math::LinearJacobian dart::dynamics::Skeleton::getCOMLinearJacobian ( const Frame * _inCoordinatesOf = Frame::World() ) const

overridevirtual

Get the Skeleton's COM Linear Jacobian in terms of any Frame (default is World Frame)

Implements dart::dynamics::MetaSkeleton.

◆ getCOMLinearJacobianDeriv()

math::LinearJacobian dart::dynamics::Skeleton::getCOMLinearJacobianDeriv ( const Frame * _inCoordinatesOf = Frame::World() ) const

overridevirtual

Get the Skeleton's COM Linear Jacobian time derivative in terms of any Frame (default is World Frame).

NOTE: Since this is a classical time derivative, it is only meant to be used with classical acceleration vectors. If you are using spatial vectors, then use getCOMJacobianSpatialDeriv() instead.

Implements dart::dynamics::MetaSkeleton.

◆ getCOMLinearVelocity()

Eigen::Vector3d dart::dynamics::Skeleton::getCOMLinearVelocity	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the Skeleton's COM linear velocity in terms of any Frame (default is World Frame)

Implements dart::dynamics::MetaSkeleton.

◆ getCommand()

double dart::dynamics::MetaSkeleton::getCommand ( std::size_t _index ) const

inherited

Get a single command.

◆ getCommands() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getCommands ( ) const

inherited

Get commands for all generalized coordinates.

◆ getCommands() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getCommands ( const std::vector< std::size_t > & _indices ) const

inherited

Get commands for a subset of the generalized coordinates.

◆ getCOMSpatialAcceleration()

Eigen::Vector6d dart::dynamics::Skeleton::getCOMSpatialAcceleration	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the Skeleton's COM spatial acceleration in terms of any Frame (default is World Frame)

Implements dart::dynamics::MetaSkeleton.

◆ getCOMSpatialVelocity()

Eigen::Vector6d dart::dynamics::Skeleton::getCOMSpatialVelocity	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the Skeleton's COM spatial velocity in terms of any Frame (default is World Frame)

Implements dart::dynamics::MetaSkeleton.

◆ getConfiguration() [1/2]

Skeleton::Configuration dart::dynamics::Skeleton::getConfiguration	(	const std::vector< std::size_t > &	indices,
		int	flags = `CONFIG_ALL`
	)		const

Get the configuration of the specified indices in this Skeleton.

◆ getConfiguration() [2/2]

Skeleton::Configuration dart::dynamics::Skeleton::getConfiguration ( int flags = CONFIG_ALL ) const

Get the configuration of this Skeleton.

◆ getConstraintForces() [1/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getConstraintForces ( ) const

overridevirtual

Get constraint force vector.

Implements dart::dynamics::MetaSkeleton.

◆ getConstraintForces() [2/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getConstraintForces ( std::size_t _treeIdx ) const

Get damping force of the skeleton.

Get constraint force vector for a tree

◆ getCoriolisAndGravityForces() [1/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getCoriolisAndGravityForces ( ) const

overridevirtual

Get combined vector of Coriolis force and gravity force of the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getCoriolisAndGravityForces() [2/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getCoriolisAndGravityForces ( std::size_t _treeIdx ) const

Get the combined vector of Coriolis force and gravity force of a tree.

◆ getCoriolisForces() [1/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getCoriolisForces ( ) const

overridevirtual

Get Coriolis force vector of the MetaSkeleton's BodyNodes.

Implements dart::dynamics::MetaSkeleton.

◆ getCoriolisForces() [2/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getCoriolisForces ( std::size_t _treeIdx ) const

Get the Coriolis force vector of a tree in this Skeleton.

◆ getDof() [1/4]

DegreeOfFreedom * dart::dynamics::Skeleton::getDof ( const std::string & _name )

Get degree of freedom (aka generalized coordinate) whose name is _name.

◆ getDof() [2/4]

const DegreeOfFreedom * dart::dynamics::Skeleton::getDof ( const std::string & _name ) const

Get degree of freedom (aka generalized coordinate) whose name is _name.

◆ getDof() [3/4]

const DegreeOfFreedom * dart::dynamics::Skeleton::getDof ( std::size_t _idx ) const

overridevirtual

Get degree of freedom (aka generalized coordinate) whose index is _idx.

Implements dart::dynamics::MetaSkeleton.

◆ getDof() [4/4]

DegreeOfFreedom * dart::dynamics::Skeleton::getDof ( std::size_t _idx )

overridevirtual

Get degree of freedom (aka generalized coordinate) whose index is _idx.

Implements dart::dynamics::MetaSkeleton.

◆ getDofs() [1/2]

std::vector< const DegreeOfFreedom * > dart::dynamics::Skeleton::getDofs ( ) const

overridevirtual

Get a vector of const DegreesOfFreedom for this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getDofs() [2/2]

const std::vector< DegreeOfFreedom * > & dart::dynamics::Skeleton::getDofs ( )

overridevirtual

Get the vector of DegreesOfFreedom for this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getEndEffector() [1/6]

EndEffector * dart::dynamics::Skeleton::getEndEffector ( const std::string & name )

◆ getEndEffector() [2/6]

const EndEffector * dart::dynamics::Skeleton::getEndEffector ( const std::string & name ) const

◆ getEndEffector() [3/6]

EndEffector * dart::dynamics::Skeleton::getEndEffector ( std::size_t index )

◆ getEndEffector() [4/6]

const EndEffector * dart::dynamics::Skeleton::getEndEffector ( std::size_t index ) const

◆ getEndEffector() [5/6]

EndEffector * dart::dynamics::Skeleton::getEndEffector	(	std::size_t	treeIndex,
		std::size_t	nodeIndex
	)

◆ getEndEffector() [6/6]

const EndEffector * dart::dynamics::Skeleton::getEndEffector	(	std::size_t	treeIndex,
		std::size_t	nodeIndex
	)		const

◆ getExternalForces() [1/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getExternalForces ( ) const

overridevirtual

Get external force vector of the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getExternalForces() [2/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getExternalForces ( std::size_t _treeIdx ) const

Get the external force vector of a tree in the Skeleton.

◆ getForce()

double dart::dynamics::MetaSkeleton::getForce ( std::size_t _index ) const

inherited

Get the force of a single generalized coordinate.

◆ getForceLowerLimit()

double dart::dynamics::MetaSkeleton::getForceLowerLimit ( std::size_t _index ) const

inherited

Get the lower limit of a generalized coordinate's force.

◆ getForceLowerLimits() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getForceLowerLimits ( ) const

inherited

Get the lower limits for all generalized coordinates's force.

◆ getForceLowerLimits() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getForceLowerLimits ( const std::vector< std::size_t > & indices ) const

inherited

Get the lower limits for a subset of the generalized coordinates's force.

◆ getForces() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getForces ( ) const

inherited

Get the forces for all generalized coordinates.

◆ getForces() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getForces ( const std::vector< std::size_t > & _indices ) const

inherited

Get the forces for a subset of the generalized coordinates.

◆ getForceUpperLimit()

double dart::dynamics::MetaSkeleton::getForceUpperLimit ( std::size_t _index ) const

inherited

Get the upper limit of a generalized coordinate's force.

◆ getForceUpperLimits() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getForceUpperLimits ( ) const

inherited

Get the upper limits for all generalized coordinates's force.

◆ getForceUpperLimits() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getForceUpperLimits ( const std::vector< std::size_t > & indices ) const

inherited

Get the upper limits for a subset of the generalized coordinates's force.

◆ getGravity()

const Eigen::Vector3d & dart::dynamics::Skeleton::getGravity ( ) const

Get 3-dim gravitational acceleration.

◆ getGravityForces() [1/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getGravityForces ( ) const

overridevirtual

Get gravity force vector of the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getGravityForces() [2/2]

const Eigen::VectorXd & dart::dynamics::Skeleton::getGravityForces ( std::size_t _treeIdx ) const

Get the gravity forces for a tree in this Skeleton.

◆ getIK() [1/2]

std::shared_ptr< const WholeBodyIK > dart::dynamics::Skeleton::getIK ( ) const

Get a pointer to a WholeBodyIK module for this Skeleton.

Because this is a const function, a new IK module cannot be created if one does not already exist.

◆ getIK() [2/2]

const std::shared_ptr< WholeBodyIK > & dart::dynamics::Skeleton::getIK ( bool _createIfNull = false )

Get a pointer to a WholeBodyIK module for this Skeleton.

If _createIfNull is true, then the IK module will be generated if one does not already exist.

◆ getIndexOf() [1/3]

std::size_t dart::dynamics::Skeleton::getIndexOf	(	const BodyNode *	_bn,
		bool	_warning = `true`
	)		const

overridevirtual

Get the index of a specific BodyNode within this ReferentialSkeleton.

Returns INVALID_INDEX if it is not held in this ReferentialSkeleton. When _warning is true, a warning message will be printed if the BodyNode is not in the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getIndexOf() [2/3]

std::size_t dart::dynamics::Skeleton::getIndexOf	(	const DegreeOfFreedom *	_dof,
		bool	_warning = `true`
	)		const

overridevirtual

Get the index of a specific DegreeOfFreedom within this ReferentialSkeleton.

Returns INVALID_INDEX if it is not held in this ReferentialSkeleton. When _warning is true, a warning message will be printed if the DegreeOfFreedom is not in the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getIndexOf() [3/3]

std::size_t dart::dynamics::Skeleton::getIndexOf	(	const Joint *	_joint,
		bool	_warning = `true`
	)		const

overridevirtual

Get the index of a specific Joint within this ReferentialSkeleton.

Returns INVALID_INDEX if it is not held in this ReferentialSkeleton. When _warning is true, a warning message will be printed if the Joint is not in the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getInvAugMassMatrix() [1/2]

const Eigen::MatrixXd & dart::dynamics::Skeleton::getInvAugMassMatrix ( ) const

overridevirtual

Get inverse of augmented Mass Matrix of the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getInvAugMassMatrix() [2/2]

const Eigen::MatrixXd & dart::dynamics::Skeleton::getInvAugMassMatrix ( std::size_t _treeIdx ) const

Get the inverse augmented mass matrix of a tree.

◆ getInvMassMatrix() [1/2]

const Eigen::MatrixXd & dart::dynamics::Skeleton::getInvMassMatrix ( ) const

overridevirtual

Get inverse of Mass Matrix of the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getInvMassMatrix() [2/2]

const Eigen::MatrixXd & dart::dynamics::Skeleton::getInvMassMatrix ( std::size_t _treeIdx ) const

Get the inverse mass matrix of a specific tree in the Skeleton.

◆ getJacobian() [1/12]

math::Jacobian dart::dynamics::Skeleton::getJacobian ( const JacobianNode * _node ) const

overridevirtual

Get the spatial Jacobian targeting the origin of a BodyNode.

The Jacobian is expressed in the Frame of the BodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobian() [2/12]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobian

Get the spatial Jacobian targeting the origin of a BodyNode.

The Jacobian is expressed in the Frame of the BodyNode.

◆ getJacobian() [3/12]

math::Jacobian dart::dynamics::Skeleton::getJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset
	)		const

overridevirtual

Get the spatial Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. The Jacobian is expressed in the Frame of the BodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobian() [4/12]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobian

Get the spatial Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. The Jacobian is expressed in the Frame of the BodyNode.

◆ getJacobian() [5/12]

math::Jacobian dart::dynamics::Skeleton::getJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobian() [6/12]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobian

Get the spatial Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobian() [7/12]

math::Jacobian dart::dynamics::MetaSkeleton::getJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const JacobianNode *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobian() [8/12]

math::Jacobian dart::dynamics::MetaSkeleton::getJacobian

Get the spatial Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobian() [9/12]

math::Jacobian dart::dynamics::Skeleton::getJacobian	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobian() [10/12]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobian

Get the spatial Jacobian targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobian() [11/12]

math::Jacobian dart::dynamics::MetaSkeleton::getJacobian	(	const JacobianNode *	_node,
		const JacobianNode *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton.

You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobian() [12/12]

math::Jacobian dart::dynamics::MetaSkeleton::getJacobian

Get the spatial Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton.

You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobianClassicDeriv() [1/6]

math::Jacobian dart::dynamics::Skeleton::getJacobianClassicDeriv ( const JacobianNode * _node ) const

overridevirtual

Get the spatial Jacobian (classical) time derivative targeting the origin of a BodyNode.

The Jacobian is expressed in the World Frame.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianClassicDeriv() [2/6]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobianClassicDeriv

Get the spatial Jacobian (classical) time derivative targeting the origin of a BodyNode.

The Jacobian is expressed in the World Frame.

◆ getJacobianClassicDeriv() [3/6]

math::Jacobian dart::dynamics::Skeleton::getJacobianClassicDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the spatial Jacobian (classical) time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianClassicDeriv() [4/6]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobianClassicDeriv

Get the spatial Jacobian (classical) time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobianClassicDeriv() [5/6]

math::Jacobian dart::dynamics::Skeleton::getJacobianClassicDeriv	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian (classical) time derivative targeting the origin a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianClassicDeriv() [6/6]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobianClassicDeriv

Get the spatial Jacobian (classical) time derivative targeting the origin a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobianSpatialDeriv() [1/12]

math::Jacobian dart::dynamics::Skeleton::getJacobianSpatialDeriv ( const JacobianNode * _node ) const

overridevirtual

Get the spatial Jacobian time derivative targeting the origin of a BodyNode.

The Jacobian is expressed in the Frame of the BodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianSpatialDeriv() [2/12]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobianSpatialDeriv

Get the spatial Jacobian time derivative targeting the origin of a BodyNode.

The Jacobian is expressed in the Frame of the BodyNode.

◆ getJacobianSpatialDeriv() [3/12]

math::Jacobian dart::dynamics::Skeleton::getJacobianSpatialDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset
	)		const

overridevirtual

Get the spatial Jacobian time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. The Jacobian is expressed in the Frame of the BodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianSpatialDeriv() [4/12]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobianSpatialDeriv

Get the spatial Jacobian time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. The Jacobian is expressed in the Frame of the BodyNode.

◆ getJacobianSpatialDeriv() [5/12]

math::Jacobian dart::dynamics::Skeleton::getJacobianSpatialDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianSpatialDeriv() [6/12]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobianSpatialDeriv

Get the spatial Jacobian time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobianSpatialDeriv() [7/12]

math::Jacobian dart::dynamics::MetaSkeleton::getJacobianSpatialDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const JacobianNode *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial Jacobian time derivative targeting an offset in a BodyNode relative to another Bodynode in the same Skeleton.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobianSpatialDeriv() [8/12]

math::Jacobian dart::dynamics::MetaSkeleton::getJacobianSpatialDeriv

Get the spatial Jacobian time derivative targeting an offset in a BodyNode relative to another Bodynode in the same Skeleton.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobianSpatialDeriv() [9/12]

math::Jacobian dart::dynamics::Skeleton::getJacobianSpatialDeriv	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf
	)		const

overridevirtual

Get the spatial Jacobian time derivative targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getJacobianSpatialDeriv() [10/12]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getJacobianSpatialDeriv

Get the spatial Jacobian time derivative targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobianSpatialDeriv() [11/12]

math::Jacobian dart::dynamics::MetaSkeleton::getJacobianSpatialDeriv	(	const JacobianNode *	_node,
		const JacobianNode *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial Jacobian time derivative targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton.

You can specify a coordinate Frame to express the Jacobian in.

◆ getJacobianSpatialDeriv() [12/12]

math::Jacobian dart::dynamics::MetaSkeleton::getJacobianSpatialDeriv

Get the spatial Jacobian time derivative targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton.

You can specify a coordinate Frame to express the Jacobian in.

◆ getJoint() [1/4]

const Joint * dart::dynamics::Skeleton::getJoint ( const std::string & name ) const

overridevirtual

Returns the joint of given name.

Parameters

[in] name The joint name that want to search.

Returns: The joint of given name.

Implements dart::dynamics::MetaSkeleton.

◆ getJoint() [2/4]

Joint * dart::dynamics::Skeleton::getJoint ( const std::string & name )

overridevirtual

Returns the Joint of given name.

Parameters

[in] name The joint name that want to search.

Returns: The joint of given name.

Implements dart::dynamics::MetaSkeleton.

◆ getJoint() [3/4]

const Joint * dart::dynamics::Skeleton::getJoint ( std::size_t _idx ) const

overridevirtual

Get const Joint whose index is _idx.

Implements dart::dynamics::MetaSkeleton.

◆ getJoint() [4/4]

Joint * dart::dynamics::Skeleton::getJoint ( std::size_t _idx )

overridevirtual

Get Joint whose index is _idx.

Implements dart::dynamics::MetaSkeleton.

◆ getJointConstraintImpulses()

Eigen::VectorXd dart::dynamics::MetaSkeleton::getJointConstraintImpulses ( ) const

inherited

Get the constraint impulses for the generalized coordinates.

◆ getJoints() [1/4]

std::vector< const Joint * > dart::dynamics::Skeleton::getJoints ( ) const

overridevirtual

Returns all the joints that are held by this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getJoints() [2/4]

std::vector< Joint * > dart::dynamics::Skeleton::getJoints ( )

overridevirtual

Returns all the joints that are held by this MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getJoints() [3/4]

std::vector< const Joint * > dart::dynamics::Skeleton::getJoints ( const std::string & name ) const

overridevirtual

Returns all the Joint of given name.

This MetaSkeleton can contain multiple Joints with the same name when this MetaSkeleton contains Joints from multiple Skeletons.

Parameters

[in] name The joint name that want to search.

Returns: The list of joints of given name.

Note: Skeleton always guarantees name uniqueness for BodyNodes and Joints. So this function returns the single Joint of the given name if it exists.

Implements dart::dynamics::MetaSkeleton.

◆ getJoints() [4/4]

std::vector< Joint * > dart::dynamics::Skeleton::getJoints ( const std::string & name )

overridevirtual

Returns all the Joint of given name.

This MetaSkeleton can contain multiple Joints with the same name when this MetaSkeleton contains Joints from multiple Skeletons.

Parameters

[in] name The joint name that want to search.

Returns: The list of joints of given name.

Note: Skeleton always guarantees name uniqueness for BodyNodes and Joints. So this function returns the single Joint of the given name if it exists.

Implements dart::dynamics::MetaSkeleton.

◆ getKineticEnergy()

double dart::dynamics::MetaSkeleton::getKineticEnergy ( ) const

inherited

Get the kinetic energy of this MetaSkeleton.

◆ getLinearJacobian() [1/8]

math::LinearJacobian dart::dynamics::Skeleton::getLinearJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the linear Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getLinearJacobian() [2/8]

virtual math::LinearJacobian dart::dynamics::MetaSkeleton::getLinearJacobian

Get the linear Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getLinearJacobian() [3/8]

math::LinearJacobian dart::dynamics::MetaSkeleton::getLinearJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const JacobianNode *	_relativeTo,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the linear Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getLinearJacobian() [4/8]

math::LinearJacobian dart::dynamics::MetaSkeleton::getLinearJacobian

Get the linear Jacobian targeting an offset in a BodyNode relative to another BodyNode in the same Skeleton.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getLinearJacobian() [5/8]

math::LinearJacobian dart::dynamics::Skeleton::getLinearJacobian	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the linear Jacobian targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getLinearJacobian() [6/8]

virtual math::LinearJacobian dart::dynamics::MetaSkeleton::getLinearJacobian

Get the linear Jacobian targeting the origin of a BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

◆ getLinearJacobian() [7/8]

math::LinearJacobian dart::dynamics::MetaSkeleton::getLinearJacobian	(	const JacobianNode *	_node,
		const JacobianNode *	_relativeTo,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the linear Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton.

You can specify a coordinate Frame to express the Jacobian in.

◆ getLinearJacobian() [8/8]

math::LinearJacobian dart::dynamics::MetaSkeleton::getLinearJacobian

Get the linear Jacobian targeting the origin of a BodyNode relative to another BodyNode in the same Skeleton.

You can specify a coordinate Frame to express the Jacobian in.

◆ getLinearJacobianDeriv() [1/4]

math::LinearJacobian dart::dynamics::Skeleton::getLinearJacobianDeriv	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

Get the linear Jacobian (classical) time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getLinearJacobianDeriv() [2/4]

virtual math::LinearJacobian dart::dynamics::MetaSkeleton::getLinearJacobianDeriv

Get the linear Jacobian (classical) time derivative targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getLinearJacobianDeriv() [3/4]

math::LinearJacobian dart::dynamics::Skeleton::getLinearJacobianDeriv	(	const JacobianNode *	_node,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

overridevirtual

of a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::MetaSkeleton.

◆ getLinearJacobianDeriv() [4/4]

virtual math::LinearJacobian dart::dynamics::MetaSkeleton::getLinearJacobianDeriv

of a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. You can specify a coordinate Frame to express the Jacobian in.

◆ getLockableReference()

std::unique_ptr< common::LockableReference > dart::dynamics::Skeleton::getLockableReference ( ) const

overridevirtual

Get the mutex that protects the state of this Skeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getMarker() [1/6]

Marker * dart::dynamics::Skeleton::getMarker ( const std::string & name )

◆ getMarker() [2/6]

const Marker * dart::dynamics::Skeleton::getMarker ( const std::string & name ) const

◆ getMarker() [3/6]

Marker * dart::dynamics::Skeleton::getMarker ( std::size_t index )

◆ getMarker() [4/6]

const Marker * dart::dynamics::Skeleton::getMarker ( std::size_t index ) const

◆ getMarker() [5/6]

Marker * dart::dynamics::Skeleton::getMarker	(	std::size_t	treeIndex,
		std::size_t	nodeIndex
	)

◆ getMarker() [6/6]

const Marker * dart::dynamics::Skeleton::getMarker	(	std::size_t	treeIndex,
		std::size_t	nodeIndex
	)		const

◆ getMass()

double dart::dynamics::Skeleton::getMass ( ) const

overridevirtual

Get total mass of the skeleton.

The total mass is calculated as BodyNodes are added and is updated as BodyNode mass is changed, so this is a constant-time O(1) operation for the Skeleton class.

Implements dart::dynamics::MetaSkeleton.

◆ getMassMatrix() [1/2]

const Eigen::MatrixXd & dart::dynamics::Skeleton::getMassMatrix ( ) const

overridevirtual

Get the Mass Matrix of the MetaSkeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getMassMatrix() [2/2]

const Eigen::MatrixXd & dart::dynamics::Skeleton::getMassMatrix ( std::size_t _treeIdx ) const

Get the mass matrix of a specific tree in the Skeleton.

◆ getMutex()

std::mutex & dart::dynamics::Skeleton::getMutex ( ) const

Get the mutex that protects the state of this Skeleton.

◆ getName()

const std::string & dart::dynamics::Skeleton::getName ( ) const

overridevirtual

Get name.

Implements dart::dynamics::MetaSkeleton.

◆ getNumBodyNodes()

std::size_t dart::dynamics::Skeleton::getNumBodyNodes ( ) const

overridevirtual

Get number of body nodes.

Implements dart::dynamics::MetaSkeleton.

◆ getNumDofs()

std::size_t dart::dynamics::Skeleton::getNumDofs ( ) const

overridevirtual

Return the number of degrees of freedom in this skeleton.

Implements dart::dynamics::MetaSkeleton.

◆ getNumEndEffectors() [1/2]

std::size_t dart::dynamics::Skeleton::getNumEndEffectors ( ) const

◆ getNumEndEffectors() [2/2]

std::size_t dart::dynamics::Skeleton::getNumEndEffectors ( std::size_t treeIndex ) const

◆ getNumJoints()

std::size_t dart::dynamics::Skeleton::getNumJoints ( ) const

overridevirtual

Get number of Joints.

Implements dart::dynamics::MetaSkeleton.

◆ getNumMarkers() [1/2]

std::size_t dart::dynamics::Skeleton::getNumMarkers ( ) const

◆ getNumMarkers() [2/2]

std::size_t dart::dynamics::Skeleton::getNumMarkers ( std::size_t treeIndex ) const

◆ getNumRigidBodyNodes()

std::size_t dart::dynamics::Skeleton::getNumRigidBodyNodes ( ) const

Get number of rigid body nodes.

◆ getNumShapeNodes() [1/2]

std::size_t dart::dynamics::Skeleton::getNumShapeNodes ( ) const

◆ getNumShapeNodes() [2/2]

std::size_t dart::dynamics::Skeleton::getNumShapeNodes ( std::size_t treeIndex ) const

◆ getNumSoftBodyNodes()

std::size_t dart::dynamics::Skeleton::getNumSoftBodyNodes ( ) const

Get number of soft body nodes.

◆ getNumTrees()

std::size_t dart::dynamics::Skeleton::getNumTrees ( ) const

Get the number of independent trees that this Skeleton contains.

◆ getOrCreateIK()

const std::shared_ptr< WholeBodyIK > & dart::dynamics::Skeleton::getOrCreateIK ( )

Get a pointer to a WholeBodyIK module for this Skeleton.

The IK module will be generated if one does not already exist. This function is actually the same as getIK(true).

◆ getPosition()

double dart::dynamics::MetaSkeleton::getPosition ( std::size_t _index ) const

inherited

Get the position of a single generalized coordinate.

◆ getPositionDifferences()

Eigen::VectorXd dart::dynamics::Skeleton::getPositionDifferences	(	const Eigen::VectorXd &	_q2,
		const Eigen::VectorXd &	_q1
	)		const

Return the difference of two generalized positions which are measured in the configuration space of this Skeleton.

If the configuration space is Euclidean space, this function returns _q2 - _q1. Otherwise, it depends on the type of the configuration space.

◆ getPositionLowerLimit()

double dart::dynamics::MetaSkeleton::getPositionLowerLimit ( std::size_t _index ) const

inherited

Get the lower limit of a generalized coordinate's position.

◆ getPositionLowerLimits() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getPositionLowerLimits ( ) const

inherited

Get the lower limits for all generalized coordinates.

◆ getPositionLowerLimits() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getPositionLowerLimits ( const std::vector< std::size_t > & indices ) const

inherited

Get the lower limits for a subset of the generalized coordinates.

◆ getPositions() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getPositions ( ) const

inherited

Get the positions for all generalized coordinates.

◆ getPositions() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getPositions ( const std::vector< std::size_t > & _indices ) const

inherited

Get the positions for a subset of the generalized coordinates.

◆ getPositionUpperLimit()

double dart::dynamics::MetaSkeleton::getPositionUpperLimit ( std::size_t _index ) const

inherited

Get the upper limit of a generalized coordinate's position.

◆ getPositionUpperLimits() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getPositionUpperLimits ( ) const

inherited

Get the upper limits for all generalized coordinates.

◆ getPositionUpperLimits() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getPositionUpperLimits ( const std::vector< std::size_t > & indices ) const

inherited

Get the upper limits for a subset of the generalized coordinates.

◆ getPotentialEnergy()

double dart::dynamics::MetaSkeleton::getPotentialEnergy ( ) const

inherited

Get the potential energy of this MetaSkeleton.

◆ getProperties()

Skeleton::Properties dart::dynamics::Skeleton::getProperties ( ) const

Get all properties of this Skeleton.

◆ getPtr() [1/2]

SkeletonPtr dart::dynamics::Skeleton::getPtr ( )

Get the shared_ptr that manages this Skeleton.

◆ getPtr() [2/2]

ConstSkeletonPtr dart::dynamics::Skeleton::getPtr ( ) const

Get the shared_ptr that manages this Skeleton.

◆ getRootBodyNode() [1/2]

BodyNode * dart::dynamics::Skeleton::getRootBodyNode ( std::size_t _treeIdx = 0 )

Get the root BodyNode of the tree whose index in this Skeleton is _treeIdx.

◆ getRootBodyNode() [2/2]

const BodyNode * dart::dynamics::Skeleton::getRootBodyNode ( std::size_t _treeIdx = 0 ) const

Get the const root BodyNode of the tree whose index in this Skeleton is _treeIdx.

◆ getRootJoint() [1/2]

Joint * dart::dynamics::Skeleton::getRootJoint ( std::size_t treeIdx = 0u )

Get the root Joint of the tree whose index in this Skeleton is treeIdx.

◆ getRootJoint() [2/2]

const Joint * dart::dynamics::Skeleton::getRootJoint ( std::size_t treeIdx = 0u ) const

Get the const root Joint of the tree whose index in this Skeleton is treeIdx.

◆ getSelfCollisionCheck()

bool dart::dynamics::Skeleton::getSelfCollisionCheck ( ) const

Return whether self-collision check is enabled.

◆ getShapeNode() [1/6]

ShapeNode * dart::dynamics::Skeleton::getShapeNode ( const std::string & name )

◆ getShapeNode() [2/6]

const ShapeNode * dart::dynamics::Skeleton::getShapeNode ( const std::string & name ) const

◆ getShapeNode() [3/6]

ShapeNode * dart::dynamics::Skeleton::getShapeNode ( std::size_t index )

◆ getShapeNode() [4/6]

const ShapeNode * dart::dynamics::Skeleton::getShapeNode ( std::size_t index ) const

◆ getShapeNode() [5/6]

ShapeNode * dart::dynamics::Skeleton::getShapeNode	(	std::size_t	treeIndex,
		std::size_t	nodeIndex
	)

◆ getShapeNode() [6/6]

const ShapeNode * dart::dynamics::Skeleton::getShapeNode	(	std::size_t	treeIndex,
		std::size_t	nodeIndex
	)		const

◆ getSkeleton() [1/2]

SkeletonPtr dart::dynamics::Skeleton::getSkeleton ( )

Same as getPtr(), but this allows Skeleton to have a similar interface as BodyNode and Joint for template programming.

◆ getSkeleton() [2/2]

ConstSkeletonPtr dart::dynamics::Skeleton::getSkeleton ( ) const

Same as getPtr(), but this allows Skeleton to have a similar interface as BodyNode and Joint for template programming.

◆ getSkeletonProperties()

const Skeleton::AspectProperties & dart::dynamics::Skeleton::getSkeletonProperties ( ) const

Get the Properties of this Skeleton.

◆ getSoftBodyNode() [1/4]

SoftBodyNode * dart::dynamics::Skeleton::getSoftBodyNode ( const std::string & _name )

Get soft body node whose name is _name.

◆ getSoftBodyNode() [2/4]

const SoftBodyNode * dart::dynamics::Skeleton::getSoftBodyNode ( const std::string & _name ) const

Get const soft body node whose name is _name.

◆ getSoftBodyNode() [3/4]

SoftBodyNode * dart::dynamics::Skeleton::getSoftBodyNode ( std::size_t _idx )

Get SoftBodyNode whose index is _idx.

◆ getSoftBodyNode() [4/4]

const SoftBodyNode * dart::dynamics::Skeleton::getSoftBodyNode ( std::size_t _idx ) const

Get const SoftBodyNode whose index is _idx.

◆ getState()

Skeleton::State dart::dynamics::Skeleton::getState ( ) const

Get the State of this Skeleton [alias for getCompositeState()].

◆ getSupportAxes() [1/2]

const std::pair< Eigen::Vector3d, Eigen::Vector3d > & dart::dynamics::Skeleton::getSupportAxes ( ) const

Get the axes that correspond to each component in the support polygon.

These axes are needed in order to map the points on a support polygon into 3D space. If gravity is along the z-direction, then these axes will simply be <1,0,0> and <0,1,0>.

◆ getSupportAxes() [2/2]

const std::pair< Eigen::Vector3d, Eigen::Vector3d > & dart::dynamics::Skeleton::getSupportAxes ( std::size_t _treeIdx ) const

Same as getSupportAxes(), but it corresponds to the support polygon of the specified tree within this Skeleton.

◆ getSupportCentroid() [1/2]

const Eigen::Vector2d & dart::dynamics::Skeleton::getSupportCentroid ( ) const

Get the centroid of the support polygon for this Skeleton.

If the support polygon is an empty set, the components of this vector will be nan.

◆ getSupportCentroid() [2/2]

const Eigen::Vector2d & dart::dynamics::Skeleton::getSupportCentroid ( std::size_t _treeIdx ) const

Get the centroid of the support polygon for a tree in this Skeleton.

If the support polygon is an empty set, the components of this vector will be nan.

◆ getSupportIndices() [1/2]

const std::vector< std::size_t > & dart::dynamics::Skeleton::getSupportIndices ( ) const

Get a list of the EndEffector indices that correspond to each of the points in the support polygon.

◆ getSupportIndices() [2/2]

const std::vector< std::size_t > & dart::dynamics::Skeleton::getSupportIndices ( std::size_t _treeIdx ) const

Same as getSupportIndices(), but it corresponds to the support polygon of the specified tree within this Skeleton.

◆ getSupportPolygon() [1/2]

const math::SupportPolygon & dart::dynamics::Skeleton::getSupportPolygon ( ) const

Get the support polygon of this Skeleton, which is computed based on the gravitational projection of the support geometries of all EndEffectors in this Skeleton that are currently in support mode.

◆ getSupportPolygon() [2/2]

const math::SupportPolygon & dart::dynamics::Skeleton::getSupportPolygon ( std::size_t _treeIdx ) const

Same as getSupportPolygon(), but it will only use EndEffectors within the specified tree within this Skeleton.

◆ getSupportVersion() [1/2]

std::size_t dart::dynamics::Skeleton::getSupportVersion ( ) const

The version number of a support polygon will be incremented each time the support polygon needs to be recomputed.

This number can be used to immediately determine whether the support polygon has changed since the last time you asked for it, allowing you to be more efficient in how you handle the data.

◆ getSupportVersion() [2/2]

std::size_t dart::dynamics::Skeleton::getSupportVersion ( std::size_t _treeIdx ) const

Same as getSupportVersion(), but it corresponds to the support polygon of the specified tree within this Skeleton.

◆ getTimeStep()

double dart::dynamics::Skeleton::getTimeStep ( ) const

Get time step.

◆ getTreeBodyNodes() [1/2]

const std::vector< BodyNode * > & dart::dynamics::Skeleton::getTreeBodyNodes ( std::size_t _treeIdx )

Get the BodyNodes belonging to a tree in this Skeleton.

◆ getTreeBodyNodes() [2/2]

std::vector< const BodyNode * > dart::dynamics::Skeleton::getTreeBodyNodes ( std::size_t _treeIdx ) const

Get the BodyNodes belonging to a tree in this Skeleton.

◆ getTreeDofs() [1/2]

const std::vector< DegreeOfFreedom * > & dart::dynamics::Skeleton::getTreeDofs ( std::size_t _treeIdx )

Get the DegreesOfFreedom belonging to a tree in this Skeleton.

◆ getTreeDofs() [2/2]

const std::vector< const DegreeOfFreedom * > & dart::dynamics::Skeleton::getTreeDofs ( std::size_t _treeIdx ) const

Get the DegreesOfFreedom belonging to a tree in this Skeleton.

◆ getVelocities() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getVelocities ( ) const

inherited

Get the velocities for all generalized coordinates.

◆ getVelocities() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getVelocities ( const std::vector< std::size_t > & _indices ) const

inherited

Get the velocities for a subset of the generalized coordinates.

◆ getVelocity()

double dart::dynamics::MetaSkeleton::getVelocity ( std::size_t _index ) const

inherited

Get the velocity of a single generalized coordinate.

◆ getVelocityChanges()

Eigen::VectorXd dart::dynamics::MetaSkeleton::getVelocityChanges ( ) const

inherited

Get the velocity changes for all the generalized coordinates.

◆ getVelocityDifferences()

Eigen::VectorXd dart::dynamics::Skeleton::getVelocityDifferences	(	const Eigen::VectorXd &	_dq2,
		const Eigen::VectorXd &	_dq1
	)		const

Return the difference of two generalized velocities or accelerations which are measured in the tangent space at the identity.

Since the tangent spaces are vector spaces, this function always returns _dq2 - _dq1.

◆ getVelocityLowerLimit()

double dart::dynamics::MetaSkeleton::getVelocityLowerLimit ( std::size_t _index )

inherited

Get the lower limit of a generalized coordinate's velocity.

◆ getVelocityLowerLimits() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getVelocityLowerLimits ( ) const

inherited

Get the lower limits for all generalized coordinates's velocity.

◆ getVelocityLowerLimits() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getVelocityLowerLimits ( const std::vector< std::size_t > & indices ) const

inherited

Get the lower limits for a subset of the generalized coordinates's velocity.

◆ getVelocityUpperLimit()

double dart::dynamics::MetaSkeleton::getVelocityUpperLimit ( std::size_t _index )

inherited

Get the upper limit of a generalized coordinate's velocity.

◆ getVelocityUpperLimits() [1/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getVelocityUpperLimits ( ) const

inherited

Get the upper limits for all generalized coordinates's velocity.

◆ getVelocityUpperLimits() [2/2]

Eigen::VectorXd dart::dynamics::MetaSkeleton::getVelocityUpperLimits ( const std::vector< std::size_t > & indices ) const

inherited

Get the upper limits for a subset of the generalized coordinates's velocity.

◆ getVersion()

std::size_t dart::common::VersionCounter::getVersion ( ) const

virtualinherited

Get the version number of this object.

◆ getWorldJacobian() [1/2]

math::Jacobian dart::dynamics::Skeleton::getWorldJacobian ( const JacobianNode * _node ) const

overridevirtual

Get the spatial Jacobian targeting the origin of a BodyNode.

The Jacobian is expressed in the World Frame.

Implements dart::dynamics::MetaSkeleton.

◆ getWorldJacobian() [2/2]

math::Jacobian dart::dynamics::Skeleton::getWorldJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset
	)		const

overridevirtual

Get the spatial Jacobian targeting an offset in a BodyNode.

The _offset is expected in coordinates of the BodyNode Frame. The Jacobian is expressed in the World Frame.

Implements dart::dynamics::MetaSkeleton.

◆ hasBodyNode()

bool dart::dynamics::Skeleton::hasBodyNode ( const BodyNode * bodyNode ) const

overridevirtual

Returns whether this Skeleton contains bodyNode.

Implements dart::dynamics::MetaSkeleton.

◆ hasJoint()

bool dart::dynamics::Skeleton::hasJoint ( const Joint * joint ) const

overridevirtual

Returns whether this Skeleton contains join.

Implements dart::dynamics::MetaSkeleton.

◆ incrementVersion()

std::size_t dart::common::VersionCounter::incrementVersion ( )

virtualinherited

Increment the version for this object.

Reimplemented in dart::dynamics::Shape.

◆ integratePositions()

void dart::dynamics::Skeleton::integratePositions ( double _dt )

◆ integrateVelocities()

void dart::dynamics::Skeleton::integrateVelocities ( double _dt )

◆ isEnabledAdjacentBodyCheck()

bool dart::dynamics::Skeleton::isEnabledAdjacentBodyCheck ( ) const

Return true if self-collision check is enabled including adjacent bodies.

◆ isEnabledSelfCollisionCheck()

bool dart::dynamics::Skeleton::isEnabledSelfCollisionCheck ( ) const

Return true if self-collision check is enabled.

◆ isImpulseApplied()

bool dart::dynamics::Skeleton::isImpulseApplied ( ) const

Get whether this skeleton is constrained.

◆ isMobile()

bool dart::dynamics::Skeleton::isMobile ( ) const

Get whether this skeleton will be updated by forward dynamics.

Returns: True if this skeleton is mobile.

◆ moveBodyNodeTree() [1/2]

template<class JointType >

JointType * dart::dynamics::Skeleton::moveBodyNodeTree	(	BodyNode *	_bodyNode,
		const SkeletonPtr &	_newSkeleton,
		BodyNode *	_parentNode,
		const typename JointType::Properties &	_joint
	)

protected

Move a subtree of BodyNodes from this Skeleton to another Skeleton while changing the Joint type of the top parent Joint.

Returns a nullptr if the move failed for any reason.

◆ moveBodyNodeTree() [2/2]

bool dart::dynamics::Skeleton::moveBodyNodeTree	(	Joint *	_parentJoint,
		BodyNode *	_bodyNode,
		SkeletonPtr	_newSkeleton,
		BodyNode *	_parentNode
	)

protected

Move a subtree of BodyNodes from this Skeleton to another Skeleton.

◆ notifyArticulatedInertiaUpdate()

void dart::dynamics::Skeleton::notifyArticulatedInertiaUpdate ( std::size_t _treeIdx )

Notify that the articulated inertia and everything that depends on it needs to be updated.

◆ notifySupportUpdate()

void dart::dynamics::Skeleton::notifySupportUpdate ( std::size_t _treeIdx )

Notify that the support polygon of a tree needs to be updated.

◆ operator=()

Skeleton& dart::dynamics::Skeleton::operator= ( const Skeleton & _other )

delete

Remove copy operator.

◆ receiveBodyNodeTree()

void dart::dynamics::Skeleton::receiveBodyNodeTree ( const std::vector< BodyNode * > & _tree )

protected

Take in and register a subtree of BodyNodes.

◆ registerBodyNode()

void dart::dynamics::Skeleton::registerBodyNode ( BodyNode * _newBodyNode )

protected

Register a BodyNode with the Skeleton. Internal use only.

◆ registerJoint()

void dart::dynamics::Skeleton::registerJoint ( Joint * _newJoint )

protected

Register a Joint with the Skeleton. Internal use only.

◆ registerNode() [1/2]

void dart::dynamics::Skeleton::registerNode ( Node * _newNode )

protected

Register a Node with the Skeleton. Internal use only.

◆ registerNode() [2/2]

void dart::dynamics::Skeleton::registerNode	(	NodeMap &	nodeMap,
		Node *	_newNode,
		std::size_t &	_index
	)

protected

Register a Node with the Skeleton. Internal use only.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ resetAccelerations()

void dart::dynamics::MetaSkeleton::resetAccelerations ( )

inherited

Set all accelerations to zero.

◆ resetCommands()

void dart::dynamics::MetaSkeleton::resetCommands ( )

inherited

Set all commands to zero.

◆ resetGeneralizedForces()

void dart::dynamics::MetaSkeleton::resetGeneralizedForces ( )

inherited

Set all forces of the generalized coordinates to zero.

◆ resetPositions()

void dart::dynamics::MetaSkeleton::resetPositions ( )

inherited

Set all positions to zero.

◆ resetUnion()

void dart::dynamics::Skeleton::resetUnion ( )

inline

◆ resetVelocities()

void dart::dynamics::MetaSkeleton::resetVelocities ( )

inherited

Set all velocities to zero.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setAcceleration()

void dart::dynamics::MetaSkeleton::setAcceleration	(	std::size_t	_index,
		double	_acceleration
	)

inherited

Set the acceleration of a single generalized coordinate.

◆ setAccelerationLowerLimit()

void dart::dynamics::MetaSkeleton::setAccelerationLowerLimit	(	std::size_t	_index,
		double	_acceleration
	)

inherited

Set the lower limit of a generalized coordinate's acceleration.

◆ setAccelerationLowerLimits() [1/2]

void dart::dynamics::MetaSkeleton::setAccelerationLowerLimits ( const Eigen::VectorXd & accelerations )

inherited

Set the lower limits for all generalized coordinates's acceleration.

◆ setAccelerationLowerLimits() [2/2]

void dart::dynamics::MetaSkeleton::setAccelerationLowerLimits	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	accelerations
	)

inherited

Set the lower limits for a subset of the generalized coordinates's acceleration.

◆ setAccelerations() [1/2]

void dart::dynamics::MetaSkeleton::setAccelerations ( const Eigen::VectorXd & _accelerations )

inherited

Set the accelerations of all generalized coordinates.

◆ setAccelerations() [2/2]

void dart::dynamics::MetaSkeleton::setAccelerations	(	const std::vector< std::size_t > &	_indices,
		const Eigen::VectorXd &	_accelerations
	)

inherited

Set the accelerations of a subset of the generalized coordinates.

◆ setAccelerationUpperLimit()

void dart::dynamics::MetaSkeleton::setAccelerationUpperLimit	(	std::size_t	_index,
		double	_acceleration
	)

inherited

Set the upper limit of a generalized coordinate's acceleration.

◆ setAccelerationUpperLimits() [1/2]

void dart::dynamics::MetaSkeleton::setAccelerationUpperLimits ( const Eigen::VectorXd & accelerations )

inherited

Set the upper limits for all generalized coordinates's acceleration.

◆ setAccelerationUpperLimits() [2/2]

void dart::dynamics::MetaSkeleton::setAccelerationUpperLimits	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	accelerations
	)

inherited

Set the upper limits for a subset of the generalized coordinates's acceleration.

◆ setAdjacentBodyCheck()

void dart::dynamics::Skeleton::setAdjacentBodyCheck ( bool enable )

Set whether to check adjacent bodies.

This option is effective only when the self-collision check is enabled.

◆ setAspectProperties()

void dart::dynamics::Skeleton::setAspectProperties ( const AspectProperties & properties )

Set the AspectProperties of this Skeleton.

◆ setCommand()

void dart::dynamics::MetaSkeleton::setCommand	(	std::size_t	_index,
		double	_command
	)

inherited

Set a single command.

◆ setCommands() [1/2]

void dart::dynamics::MetaSkeleton::setCommands ( const Eigen::VectorXd & _commands )

inherited

Set commands for all generalized coordinates.

◆ setCommands() [2/2]

void dart::dynamics::MetaSkeleton::setCommands	(	const std::vector< std::size_t > &	_indices,
		const Eigen::VectorXd &	_commands
	)

inherited

Set commands for a subset of the generalized coordinates.

◆ setConfiguration()

void dart::dynamics::Skeleton::setConfiguration ( const Configuration & configuration )

Set the configuration of this Skeleton.

◆ setForce()

void dart::dynamics::MetaSkeleton::setForce	(	std::size_t	_index,
		double	_force
	)

inherited

Set the force of a single generalized coordinate.

◆ setForceLowerLimit()

void dart::dynamics::MetaSkeleton::setForceLowerLimit	(	std::size_t	_index,
		double	_force
	)

inherited

Set the lower limit of a generalized coordinate's force.

◆ setForceLowerLimits() [1/2]

void dart::dynamics::MetaSkeleton::setForceLowerLimits ( const Eigen::VectorXd & forces )

inherited

Set the lower limits for all generalized coordinates's force.

◆ setForceLowerLimits() [2/2]

void dart::dynamics::MetaSkeleton::setForceLowerLimits	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	forces
	)

inherited

Set the lower limits for a subset of the generalized coordinates's force.

◆ setForces() [1/2]

void dart::dynamics::MetaSkeleton::setForces ( const Eigen::VectorXd & _forces )

inherited

Set the forces of all generalized coordinates.

◆ setForces() [2/2]

void dart::dynamics::MetaSkeleton::setForces	(	const std::vector< std::size_t > &	_index,
		const Eigen::VectorXd &	_forces
	)

inherited

Set the forces of a subset of the generalized coordinates.

◆ setForceUpperLimit()

void dart::dynamics::MetaSkeleton::setForceUpperLimit	(	std::size_t	_index,
		double	_force
	)

inherited

Set the upper limit of a generalized coordinate's force.

◆ setForceUpperLimits() [1/2]

void dart::dynamics::MetaSkeleton::setForceUpperLimits ( const Eigen::VectorXd & forces )

inherited

Set the upperlimits for all generalized coordinates's force.

◆ setForceUpperLimits() [2/2]

void dart::dynamics::MetaSkeleton::setForceUpperLimits	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	forces
	)

inherited

Set the upper limits for a subset of the generalized coordinates's force.

◆ setGravity()

void dart::dynamics::Skeleton::setGravity ( const Eigen::Vector3d & _gravity )

Set 3-dim gravitational acceleration.

The gravity is used for calculating gravity force vector of the skeleton.

◆ setImpulseApplied()

void dart::dynamics::Skeleton::setImpulseApplied ( bool _val )

Set whether this skeleton is constrained.

ConstraintSolver will mark this.

◆ setJointConstraintImpulses()

void dart::dynamics::MetaSkeleton::setJointConstraintImpulses ( const Eigen::VectorXd & _impulses )

inherited

Set the constraint impulses for the generalized coordinates.

◆ setMobile()

void dart::dynamics::Skeleton::setMobile ( bool _isMobile )

Set whether this skeleton will be updated by forward dynamics.

Parameters

[in] _isMobile True if this skeleton is mobile.

◆ setName()

const std::string & dart::dynamics::Skeleton::setName ( const std::string & _name )

overridevirtual

Set name.

Implements dart::dynamics::MetaSkeleton.

◆ setPosition()

void dart::dynamics::MetaSkeleton::setPosition	(	std::size_t	index,
		double	_position
	)

inherited

Set the position of a single generalized coordinate.

◆ setPositionLowerLimit()

void dart::dynamics::MetaSkeleton::setPositionLowerLimit	(	std::size_t	_index,
		double	_position
	)

inherited

Set the lower limit of a generalized coordinate's position.

◆ setPositionLowerLimits() [1/2]

void dart::dynamics::MetaSkeleton::setPositionLowerLimits ( const Eigen::VectorXd & positions )

inherited

Set the lower limits for all generalized coordinates.

◆ setPositionLowerLimits() [2/2]

void dart::dynamics::MetaSkeleton::setPositionLowerLimits	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	positions
	)

inherited

Set the lower limits for a subset of the generalized coordinates.

◆ setPositions() [1/2]

void dart::dynamics::MetaSkeleton::setPositions ( const Eigen::VectorXd & _positions )

inherited

Set the positions for all generalized coordinates.

◆ setPositions() [2/2]

void dart::dynamics::MetaSkeleton::setPositions	(	const std::vector< std::size_t > &	_indices,
		const Eigen::VectorXd &	_positions
	)

inherited

Set the positions for a subset of the generalized coordinates.

◆ setPositionUpperLimit()

void dart::dynamics::MetaSkeleton::setPositionUpperLimit	(	std::size_t	_index,
		double	_position
	)

inherited

Set the upper limit of a generalized coordainte's position.

◆ setPositionUpperLimits() [1/2]

void dart::dynamics::MetaSkeleton::setPositionUpperLimits ( const Eigen::VectorXd & positions )

inherited

Set the upper limits for all generalized coordinates.

◆ setPositionUpperLimits() [2/2]

void dart::dynamics::MetaSkeleton::setPositionUpperLimits	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	positions
	)

inherited

Set the upper limits for a subset of the generalized coordinates.

◆ setProperties() [1/2]

void dart::dynamics::Skeleton::setProperties ( const AspectProperties & properties )

Set the Properties of this Skeleton.

◆ setProperties() [2/2]

void dart::dynamics::Skeleton::setProperties ( const Properties & properties )

Set all properties of this Skeleton.

◆ setPtr()

void dart::dynamics::Skeleton::setPtr ( const SkeletonPtr & _ptr )

protected

Setup this Skeleton with its shared_ptr.

◆ setSelfCollisionCheck()

void dart::dynamics::Skeleton::setSelfCollisionCheck ( bool enable )

Set whether to check self-collision.

◆ setState()

void dart::dynamics::Skeleton::setState ( const State & state )

Set the State of this Skeleton [alias for setCompositeState(~)].

◆ setTimeStep()

void dart::dynamics::Skeleton::setTimeStep ( double _timeStep )

Set time step.

This timestep is used for implicit joint damping force.

◆ setVelocities() [1/2]

void dart::dynamics::MetaSkeleton::setVelocities ( const Eigen::VectorXd & _velocities )

inherited

Set the velocities of all generalized coordinates.

◆ setVelocities() [2/2]

void dart::dynamics::MetaSkeleton::setVelocities	(	const std::vector< std::size_t > &	_indices,
		const Eigen::VectorXd &	_velocities
	)

inherited

Set the velocities of a subset of the generalized coordinates.

◆ setVelocity()

void dart::dynamics::MetaSkeleton::setVelocity	(	std::size_t	_index,
		double	_velocity
	)

inherited

Set the velocity of a single generalized coordinate.

◆ setVelocityLowerLimit()

void dart::dynamics::MetaSkeleton::setVelocityLowerLimit	(	std::size_t	_index,
		double	_velocity
	)

inherited

Set the lower limit of a generalized coordinate's velocity.

◆ setVelocityLowerLimits() [1/2]

void dart::dynamics::MetaSkeleton::setVelocityLowerLimits ( const Eigen::VectorXd & velocities )

inherited

Set the lower limits for all generalized coordinates's velocity.

◆ setVelocityLowerLimits() [2/2]

void dart::dynamics::MetaSkeleton::setVelocityLowerLimits	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	velocities
	)

inherited

Set the lower limits for a subset of the generalized coordinates's velocity.

◆ setVelocityUpperLimit()

void dart::dynamics::MetaSkeleton::setVelocityUpperLimit	(	std::size_t	_index,
		double	_velocity
	)

inherited

Set the upper limit of a generalized coordinate's velocity.

◆ setVelocityUpperLimits() [1/2]

void dart::dynamics::MetaSkeleton::setVelocityUpperLimits ( const Eigen::VectorXd & velocities )

inherited

Set the upper limits for all generalized coordinates's velocity.

◆ setVelocityUpperLimits() [2/2]

void dart::dynamics::MetaSkeleton::setVelocityUpperLimits	(	const std::vector< std::size_t > &	indices,
		const Eigen::VectorXd &	velocities
	)

inherited

Set the upper limits for a subset of the generalized coordinates's velocity.

◆ setVersionDependentObject()

void dart::common::VersionCounter::setVersionDependentObject ( VersionCounter * dependent )

protectedinherited

◆ unregisterBodyNode()

void dart::dynamics::Skeleton::unregisterBodyNode ( BodyNode * _oldBodyNode )

protected

Remove a BodyNode from the Skeleton. Internal use only.

◆ unregisterJoint()

void dart::dynamics::Skeleton::unregisterJoint ( Joint * _oldJoint )

protected

Remove a Joint from the Skeleton. Internal use only.

◆ unregisterNode() [1/2]

void dart::dynamics::Skeleton::unregisterNode ( Node * _oldNode )

protected

Remove a Node from the Skeleton. Internal use only.

◆ unregisterNode() [2/2]

void dart::dynamics::Skeleton::unregisterNode	(	NodeMap &	nodeMap,
		Node *	_oldNode,
		std::size_t &	_index
	)

protected

Remove a Node from the Skeleton. Internal use only.

◆ updateArticulatedInertia() [1/2]

void dart::dynamics::Skeleton::updateArticulatedInertia ( ) const

protected

Update the articulated inertias of the skeleton.

◆ updateArticulatedInertia() [2/2]

void dart::dynamics::Skeleton::updateArticulatedInertia ( std::size_t _tree ) const

protected

Update the articulated inertia of a tree.

◆ updateAugMassMatrix() [1/2]

void dart::dynamics::Skeleton::updateAugMassMatrix ( ) const

protected

Update augmented mass matrix of the skeleton.

◆ updateAugMassMatrix() [2/2]

void dart::dynamics::Skeleton::updateAugMassMatrix ( std::size_t _treeIdx ) const

protected

◆ updateBiasImpulse() [1/4]

void dart::dynamics::Skeleton::updateBiasImpulse ( BodyNode * _bodyNode )

Update bias impulses.

◆ updateBiasImpulse() [2/4]

void dart::dynamics::Skeleton::updateBiasImpulse	(	BodyNode *	_bodyNode,
		const Eigen::Vector6d &	_imp
	)

Update bias impulses due to impulse [_imp] on body node [_bodyNode].

Parameters

_bodyNode	Body node contraint impulse, _imp, is applied
_imp	Constraint impulse expressed in body frame of _bodyNode

◆ updateBiasImpulse() [3/4]

void dart::dynamics::Skeleton::updateBiasImpulse	(	BodyNode *	_bodyNode1,
		const Eigen::Vector6d &	_imp1,
		BodyNode *	_bodyNode2,
		const Eigen::Vector6d &	_imp2
	)

Update bias impulses due to impulse [_imp] on body node [_bodyNode].

Parameters

_bodyNode1	Body node contraint impulse, _imp1, is applied
_imp1	Constraint impulse expressed in body frame of _bodyNode1
_bodyNode2	Body node contraint impulse, _imp2, is applied
_imp2	Constraint impulse expressed in body frame of _bodyNode2

◆ updateBiasImpulse() [4/4]

void dart::dynamics::Skeleton::updateBiasImpulse	(	SoftBodyNode *	_softBodyNode,
		PointMass *	_pointMass,
		const Eigen::Vector3d &	_imp
	)

Update bias impulses due to impulse[_imp] on body node [_bodyNode].

◆ updateCacheDimensions() [1/2]

void dart::dynamics::Skeleton::updateCacheDimensions ( Skeleton::DataCache & _cache )

protected

Update the dimensions for a specific cache.

◆ updateCacheDimensions() [2/2]

void dart::dynamics::Skeleton::updateCacheDimensions ( std::size_t _treeIdx )

protected

Update the dimensions for a tree's cache.

◆ updateCoriolisAndGravityForces() [1/2]

void dart::dynamics::Skeleton::updateCoriolisAndGravityForces ( ) const

protected

Update combined vector of the skeleton.

◆ updateCoriolisAndGravityForces() [2/2]

void dart::dynamics::Skeleton::updateCoriolisAndGravityForces ( std::size_t _treeIdx ) const

protected

Update the combined vector for a tree in this Skeleton.

◆ updateCoriolisForces() [1/2]

void dart::dynamics::Skeleton::updateCoriolisForces ( ) const

protected

Update Coriolis force vector of the skeleton.

◆ updateCoriolisForces() [2/2]

void dart::dynamics::Skeleton::updateCoriolisForces ( std::size_t _treeIdx ) const

protected

Update Coriolis force vector for a tree in the Skeleton.

◆ updateExternalForces() [1/2]

void dart::dynamics::Skeleton::updateExternalForces ( ) const

protected

update external force vector to generalized forces.

◆ updateExternalForces() [2/2]

void dart::dynamics::Skeleton::updateExternalForces ( std::size_t _treeIdx ) const

protected

Update external force vector to generalized forces for a tree.

◆ updateGravityForces() [1/2]

void dart::dynamics::Skeleton::updateGravityForces ( ) const

protected

Update gravity force vector of the skeleton.

◆ updateGravityForces() [2/2]

void dart::dynamics::Skeleton::updateGravityForces ( std::size_t _treeIdx ) const

protected

Update the gravity force vector of a tree.

◆ updateInvAugMassMatrix() [1/2]

void dart::dynamics::Skeleton::updateInvAugMassMatrix ( ) const

protected

Update inverse of augmented mass matrix of the skeleton.

◆ updateInvAugMassMatrix() [2/2]

void dart::dynamics::Skeleton::updateInvAugMassMatrix ( std::size_t _treeIdx ) const

protected

Update the inverse augmented mass matrix of a tree.

◆ updateInvMassMatrix() [1/2]

void dart::dynamics::Skeleton::updateInvMassMatrix ( ) const

protected

Update inverse of mass matrix of the skeleton.

◆ updateInvMassMatrix() [2/2]

void dart::dynamics::Skeleton::updateInvMassMatrix ( std::size_t _treeIdx ) const

protected

Update the inverse mass matrix of a tree.

◆ updateMassMatrix() [1/2]

void dart::dynamics::Skeleton::updateMassMatrix ( ) const

protected

Update mass matrix of the skeleton.

◆ updateMassMatrix() [2/2]

void dart::dynamics::Skeleton::updateMassMatrix ( std::size_t _treeIdx ) const

protected

Update the mass matrix of a tree.

◆ updateNameManagerNames()

void dart::dynamics::Skeleton::updateNameManagerNames ( )

protected

◆ updateTotalMass()

void dart::dynamics::Skeleton::updateTotalMass ( )

protected

Update the computation for total mass.

◆ updateVelocityChange()

void dart::dynamics::Skeleton::updateVelocityChange ( )

Update velocity changes in body nodes and joints due to applied impulse.

Friends And Related Function Documentation

◆ BodyNode

friend class BodyNode

friend

◆ DegreeOfFreedom

friend class DegreeOfFreedom

friend

◆ EndEffector

friend class EndEffector

friend

◆ GenericJoint

template<class >

friend class GenericJoint

friend

◆ Joint

friend class Joint

friend

◆ Node

friend class Node

friend

◆ ShapeNode

friend class ShapeNode

friend

◆ SoftBodyNode

friend class SoftBodyNode

friend

Member Data Documentation

◆ mAspectProperties

template<class DerivedT , typename PropertiesDataT , typename... CompositeBases>

AspectProperties dart::common::EmbedProperties< DerivedT, PropertiesDataT >::mAspectProperties

protectedinherited

Aspect::Properties data, directly accessible to your derived class.

◆ mDependent

VersionCounter* dart::common::VersionCounter::mDependent

privateinherited

◆ mIsImpulseApplied

bool dart::dynamics::Skeleton::mIsImpulseApplied

protected

Flag for status of impulse testing.

◆ mMutex

std::mutex dart::dynamics::Skeleton::mMutex

mutableprotected

◆ mNameChangedSignal

NameChangedSignal dart::dynamics::MetaSkeleton::mNameChangedSignal

protectedinherited

◆ mNameMgrForBodyNodes

dart::common::NameManager<BodyNode*> dart::dynamics::Skeleton::mNameMgrForBodyNodes

protected

NameManager for tracking BodyNodes.

◆ mNameMgrForDofs

dart::common::NameManager<DegreeOfFreedom*> dart::dynamics::Skeleton::mNameMgrForDofs

protected

NameManager for tracking DegreesOfFreedom.

◆ mNameMgrForJoints

dart::common::NameManager<Joint*> dart::dynamics::Skeleton::mNameMgrForJoints

protected

NameManager for tracking Joints.

◆ mNameMgrForSoftBodyNodes

dart::common::NameManager<SoftBodyNode*> dart::dynamics::Skeleton::mNameMgrForSoftBodyNodes

protected

NameManager for tracking SoftBodyNodes.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mPtr

std::weak_ptr<Skeleton> dart::dynamics::Skeleton::mPtr

protected

The resource-managing pointer to this Skeleton.

◆ mSkelCache

DataCache dart::dynamics::Skeleton::mSkelCache

mutableprotected

◆ mSoftBodyNodes

std::vector<SoftBodyNode*> dart::dynamics::Skeleton::mSoftBodyNodes

protected

List of Soft body node list in the skeleton.

◆ mSpecializedTreeNodes

SpecializedTreeNodes dart::dynamics::Skeleton::mSpecializedTreeNodes

protected

◆ mTotalMass

double dart::dynamics::Skeleton::mTotalMass

protected

Total mass.

◆ mTreeCache

common::aligned_vector<DataCache> dart::dynamics::Skeleton::mTreeCache

mutableprotected

◆ mUnionIndex

std::size_t dart::dynamics::Skeleton::mUnionIndex

◆ mUnionRootSkeleton

std::weak_ptr<Skeleton> dart::dynamics::Skeleton::mUnionRootSkeleton

◆ mUnionSize

std::size_t dart::dynamics::Skeleton::mUnionSize

◆ mVersion

std::size_t dart::common::VersionCounter::mVersion

protectedinherited

◆ mWholeBodyIK

std::shared_ptr<WholeBodyIK> dart::dynamics::Skeleton::mWholeBodyIK

protected

WholeBodyIK module for this Skeleton.

◆ onNameChanged

common::SlotRegister<NameChangedSignal> dart::dynamics::MetaSkeleton::onNameChanged

inherited

Classes

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Private Attributes

Friends

Constructor and Destructor

Detailed Description

Member Typedef Documentation

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ Base

◆ Derived

◆ Impl

◆ NameChangedSignal

◆ Properties

◆ SpecializedTreeNodes

◆ State

Member Enumeration Documentation

◆ ConfigFlags

Constructor & Destructor Documentation

◆ Skeleton() [1/2]

◆ ~Skeleton()

◆ Skeleton() [2/2]

Member Function Documentation

◆ addEntryToBodyNodeNameMgr()

◆ addEntryToJointNameMgr()

◆ addEntryToSoftBodyNodeNameMgr()

◆ addObserver()

◆ checkIndexingConsistency()

◆ clearCollidingBodies()

◆ clearConstraintImpulses()

◆ clearExternalForces()

◆ clearIK()

◆ clearInternalForces()

◆ clone() [1/2]

◆ clone() [2/2]

◆ cloneBodyNodeTree() [1/2]

◆ cloneBodyNodeTree() [2/2]

◆ cloneMetaSkeleton() [1/2]

◆ cloneMetaSkeleton() [2/2]

◆ cloneSkeleton() [1/2]

◆ cloneSkeleton() [2/2]

◆ computeConstraintForces()

◆ computeForwardDynamics()

◆ computeForwardKinematics()

◆ computeImpulseForwardDynamics()

◆ computeInverseDynamics()

◆ computeKineticEnergy()

◆ computeLagrangian()

◆ computePotentialEnergy()

◆ constructBodyNodeTree() [1/2]

◆ constructBodyNodeTree() [2/2]

◆ constructNewTree()

◆ create() [1/2]

◆ create() [2/2]

◆ createIK()

◆ createJointAndBodyNodePair()

◆ destructOldTree()

◆ dirtyArticulatedInertia()

◆ dirtySupportPolygon()

◆ disableAdjacentBodyCheck()

◆ disableSelfCollision()

◆ disableSelfCollisionCheck()

◆ enableAdjacentBodyCheck()

◆ enableSelfCollision()

◆ enableSelfCollisionCheck()

◆ extractBodyNodeTree()

◆ getAcceleration()

◆ getAccelerationLowerLimit()

◆ getAccelerationLowerLimits() [1/2]

◆ getAccelerationLowerLimits() [2/2]

◆ getAccelerations() [1/2]

◆ getAccelerations() [2/2]

◆ getAccelerationUpperLimit()

◆ getAccelerationUpperLimits() [1/2]