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| FreeJoint (const FreeJoint &)=delete |
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virtual | ~FreeJoint () |
| Destructor.
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Properties | getFreeJointProperties () const |
| Get the Properties of this FreeJoint.
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const std::string & | getType () const override |
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bool | isCyclic (std::size_t _index) const override |
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void | setSpatialMotion (const Eigen::Isometry3d *newTransform, const Frame *withRespectTo, const Eigen::Vector6d *newSpatialVelocity, const Frame *velRelativeTo, const Frame *velInCoordinatesOf, const Eigen::Vector6d *newSpatialAcceleration, const Frame *accRelativeTo, const Frame *accInCoordinatesOf) |
| Set the transform, spatial velocity, and spatial acceleration of the child BodyNode relative to an arbitrary Frame.
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void | setRelativeTransform (const Eigen::Isometry3d &newTransform) |
| Set the transform of the child BodyNode relative to the parent BodyNode.
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void | setTransform (const Eigen::Isometry3d &newTransform, const Frame *withRespectTo=Frame::World()) |
| Set the transform of the child BodyNode relative to an arbitrary Frame.
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void | setRelativeSpatialVelocity (const Eigen::Vector6d &newSpatialVelocity) |
| Set the spatial velocity of the child BodyNode relative to the parent BodyNode.
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void | setRelativeSpatialVelocity (const Eigen::Vector6d &newSpatialVelocity, const Frame *inCoordinatesOf) |
| Set the spatial velocity of the child BodyNode relative to the parent BodyNode.
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void | setSpatialVelocity (const Eigen::Vector6d &newSpatialVelocity, const Frame *relativeTo, const Frame *inCoordinatesOf) |
| Set the spatial velocity of the child BodyNode relative to an arbitrary Frame.
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void | setLinearVelocity (const Eigen::Vector3d &newLinearVelocity, const Frame *relativeTo=Frame::World(), const Frame *inCoordinatesOf=Frame::World()) |
| Set the linear portion of classical velocity of the child BodyNode relative to an arbitrary Frame.
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void | setAngularVelocity (const Eigen::Vector3d &newAngularVelocity, const Frame *relativeTo=Frame::World(), const Frame *inCoordinatesOf=Frame::World()) |
| Set the angular portion of classical velocity of the child BodyNode relative to an arbitrary Frame.
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void | setRelativeSpatialAcceleration (const Eigen::Vector6d &newSpatialAcceleration) |
| Set the spatial acceleration of the child BodyNode relative to the parent BodyNode.
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void | setRelativeSpatialAcceleration (const Eigen::Vector6d &newSpatialAcceleration, const Frame *inCoordinatesOf) |
| Set the spatial acceleration of the child BodyNode relative to the parent BodyNode.
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void | setSpatialAcceleration (const Eigen::Vector6d &newSpatialAcceleration, const Frame *relativeTo, const Frame *inCoordinatesOf) |
| Set the spatial acceleration of the child BodyNode relative to an arbitrary Frame.
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void | setLinearAcceleration (const Eigen::Vector3d &newLinearAcceleration, const Frame *relativeTo=Frame::World(), const Frame *inCoordinatesOf=Frame::World()) |
| Set the linear portion of classical acceleration of the child BodyNode relative to an arbitrary Frame.
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void | setAngularAcceleration (const Eigen::Vector3d &newAngularAcceleration, const Frame *relativeTo=Frame::World(), const Frame *inCoordinatesOf=Frame::World()) |
| Set the angular portion of classical acceleration of the child BodyNode relative to an arbitrary Frame.
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Eigen::Matrix6d | getRelativeJacobianStatic (const Eigen::Vector6d &_positions) const override |
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Eigen::Vector6d | getPositionDifferencesStatic (const Eigen::Vector6d &_q2, const Eigen::Vector6d &_q1) const override |
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bool | hasGenericJointAspect () const |
| Check if this Composite currently has GenericJointAspect .
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ThisClass::Aspect * | getGenericJointAspect () |
| Get a(an) GenericJointAspect from this Composite.
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const ThisClass::Aspect * | getGenericJointAspect () const |
| Get a(an) GenericJointAspect from this Composite.
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ThisClass::Aspect * | getGenericJointAspect (const bool createIfNull) |
| Get a(an) GenericJointAspect from this Composite.
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void | setGenericJointAspect (const typename ThisClass::Aspect *aspect) |
| Make a clone of GenericJointAspect and place the clone into this Composite.
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void | setGenericJointAspect (std::unique_ptr< typename ThisClass::Aspect > &&aspect) |
| Use move semantics to place GenericJointAspect into this Composite.
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ThisClass::Aspect * | createGenericJointAspect (Args &&... args) |
| Construct a(an) GenericJointAspect inside of this Composite.
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void | removeGenericJointAspect () |
| Remove a(an) GenericJointAspect from this Composite.
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std::unique_ptr< typename ThisClass::Aspect > | releaseGenericJointAspect () |
| Remove a(an) GenericJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted.
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void | setProperties (const Properties &properties) |
| Set the Properties of this GenericJoint.
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void | setProperties (const UniqueProperties &properties) |
| Set the Properties of this GenericJoint.
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void | setAspectState (const AspectState &state) |
| Set the AspectState of this GenericJoint.
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void | setAspectProperties (const AspectProperties &properties) |
| Set the AspectProperties of this GenericJoint.
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Properties | getGenericJointProperties () const |
| Get the Properties of this GenericJoint.
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void | copy (const ThisClass &otherJoint) |
| Copy the Properties of another GenericJoint.
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void | copy (const ThisClass *otherJoint) |
| Copy the Properties of another GenericJoint.
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Eigen::Vector6d | getBodyConstraintWrench () const override |
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const AspectProperties & | getAspectProperties () const |
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const AspectState & | getAspectState () const |
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DegreeOfFreedom * | getDof (std::size_t index) override |
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const DegreeOfFreedom * | getDof (std::size_t _index) const override |
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std::size_t | getNumDofs () const override |
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const std::string & | setDofName (std::size_t index, const std::string &name, bool preserveName=true) override |
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void | preserveDofName (size_t index, bool preserve) override |
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bool | isDofNamePreserved (size_t index) const override |
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const std::string & | getDofName (size_t index) const override |
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size_t | getIndexInSkeleton (size_t index) const override |
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size_t | getIndexInTree (size_t index) const override |
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void | setCommand (std::size_t index, double command) override |
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double | getCommand (std::size_t index) const override |
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void | setCommands (const Eigen::VectorXd &commands) override |
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Eigen::VectorXd | getCommands () const override |
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void | resetCommands () override |
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void | setPosition (std::size_t index, double position) override |
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double | getPosition (std::size_t index) const override |
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void | setPositions (const Eigen::VectorXd &positions) override |
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Eigen::VectorXd | getPositions () const override |
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void | setPositionLowerLimit (std::size_t index, double position) override |
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double | getPositionLowerLimit (std::size_t index) const override |
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void | setPositionLowerLimits (const Eigen::VectorXd &lowerLimits) override |
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Eigen::VectorXd | getPositionLowerLimits () const override |
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void | setPositionUpperLimit (std::size_t index, double position) override |
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double | getPositionUpperLimit (std::size_t index) const override |
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void | setPositionUpperLimits (const Eigen::VectorXd &upperLimits) override |
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Eigen::VectorXd | getPositionUpperLimits () const override |
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bool | hasPositionLimit (std::size_t index) const override |
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void | resetPosition (std::size_t index) override |
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void | resetPositions () override |
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void | setInitialPosition (std::size_t index, double initial) override |
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double | getInitialPosition (std::size_t index) const override |
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void | setInitialPositions (const Eigen::VectorXd &initial) override |
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Eigen::VectorXd | getInitialPositions () const override |
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void | setPositionsStatic (const Vector &positions) |
| Fixed-size version of setPositions()
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const Vector & | getPositionsStatic () const |
| Fixed-size version of getPositions()
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void | setVelocitiesStatic (const Vector &velocities) |
| Fixed-size version of setVelocities()
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const Vector & | getVelocitiesStatic () const |
| Fixed-size version of getVelocities()
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void | setAccelerationsStatic (const Vector &accels) |
| Fixed-size version of setAccelerations()
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const Vector & | getAccelerationsStatic () const |
| Fixed-size version of getAccelerations()
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void | setVelocity (std::size_t index, double velocity) override |
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double | getVelocity (std::size_t index) const override |
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void | setVelocities (const Eigen::VectorXd &velocities) override |
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Eigen::VectorXd | getVelocities () const override |
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void | setVelocityLowerLimit (std::size_t index, double velocity) override |
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double | getVelocityLowerLimit (std::size_t index) const override |
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void | setVelocityLowerLimits (const Eigen::VectorXd &lowerLimits) override |
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Eigen::VectorXd | getVelocityLowerLimits () const override |
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void | setVelocityUpperLimit (std::size_t index, double velocity) override |
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double | getVelocityUpperLimit (std::size_t index) const override |
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void | setVelocityUpperLimits (const Eigen::VectorXd &upperLimits) override |
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Eigen::VectorXd | getVelocityUpperLimits () const override |
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void | resetVelocity (std::size_t index) override |
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void | resetVelocities () override |
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void | setInitialVelocity (std::size_t index, double initial) override |
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double | getInitialVelocity (std::size_t index) const override |
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void | setInitialVelocities (const Eigen::VectorXd &initial) override |
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Eigen::VectorXd | getInitialVelocities () const override |
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void | setAcceleration (std::size_t index, double acceleration) override |
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double | getAcceleration (std::size_t index) const override |
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void | setAccelerations (const Eigen::VectorXd &accelerations) override |
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Eigen::VectorXd | getAccelerations () const override |
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void | setAccelerationLowerLimit (size_t index, double acceleration) override |
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double | getAccelerationLowerLimit (std::size_t index) const override |
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void | setAccelerationLowerLimits (const Eigen::VectorXd &lowerLimits) override |
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Eigen::VectorXd | getAccelerationLowerLimits () const override |
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void | setAccelerationUpperLimit (std::size_t index, double acceleration) override |
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double | getAccelerationUpperLimit (std::size_t index) const override |
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void | setAccelerationUpperLimits (const Eigen::VectorXd &upperLimits) override |
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Eigen::VectorXd | getAccelerationUpperLimits () const override |
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void | resetAccelerations () override |
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void | setForce (std::size_t index, double force) override |
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double | getForce (std::size_t index) const override |
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void | setForces (const Eigen::VectorXd &forces) override |
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Eigen::VectorXd | getForces () const override |
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void | setForceLowerLimit (size_t index, double force) override |
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double | getForceLowerLimit (std::size_t index) const override |
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void | setForceLowerLimits (const Eigen::VectorXd &lowerLimits) override |
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Eigen::VectorXd | getForceLowerLimits () const override |
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void | setForceUpperLimit (size_t index, double force) override |
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double | getForceUpperLimit (size_t index) const override |
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void | setForceUpperLimits (const Eigen::VectorXd &upperLimits) override |
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Eigen::VectorXd | getForceUpperLimits () const override |
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void | resetForces () override |
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void | setVelocityChange (std::size_t index, double velocityChange) override |
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double | getVelocityChange (std::size_t index) const override |
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void | resetVelocityChanges () override |
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void | setConstraintImpulse (std::size_t index, double impulse) override |
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double | getConstraintImpulse (std::size_t index) const override |
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void | resetConstraintImpulses () override |
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void | integrateVelocities (double dt) override |
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Eigen::VectorXd | getPositionDifferences (const Eigen::VectorXd &q2, const Eigen::VectorXd &q1) const override |
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virtual Vector | getPositionDifferencesStatic (const Vector &q2, const Vector &q1) const |
| Fixed-size version of getPositionDifferences()
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void | setSpringStiffness (std::size_t index, double k) override |
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double | getSpringStiffness (std::size_t index) const override |
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void | setRestPosition (std::size_t index, double q0) override |
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double | getRestPosition (std::size_t index) const override |
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void | setDampingCoefficient (std::size_t index, double coeff) override |
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double | getDampingCoefficient (std::size_t index) const override |
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void | setCoulombFriction (std::size_t index, double friction) override |
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double | getCoulombFriction (std::size_t index) const override |
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double | computePotentialEnergy () const override |
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const math::Jacobian | getRelativeJacobian () const override |
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math::Jacobian | getRelativeJacobian (const Eigen::VectorXd &_positions) const override |
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const GenericJoint< math::SE3Space >::JacobianMatrix & | getRelativeJacobianStatic () const |
| Fixed-size version of getRelativeJacobian()
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virtual JacobianMatrix | getRelativeJacobianStatic (const Vector &positions) const=0 |
| Fixed-size version of getRelativeJacobian(positions)
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const math::Jacobian | getRelativeJacobianTimeDeriv () const override |
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const JacobianMatrix & | getRelativeJacobianTimeDerivStatic () const |
| Fixed-size version of getRelativeJacobianTimeDeriv()
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static const std::string & | getStaticType () |
| Get joint type for this class.
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static Eigen::Vector6d | convertToPositions (const Eigen::Isometry3d &_tf) |
| Convert a transform into a 6D vector that can be used to set the positions of a FreeJoint.
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static Eigen::Isometry3d | convertToTransform (const Eigen::Vector6d &_positions) |
| Convert a FreeJoint-style 6D vector into a transform.
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static void | setTransform (Joint *joint, const Eigen::Isometry3d &tf, const Frame *withRespectTo=Frame::World()) |
| If the given joint is a FreeJoint, then set the transform of the given Joint's child BodyNode so that its transform with respect to "withRespecTo" is equal to "tf".
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static void | setTransformOf (Joint *joint, const Eigen::Isometry3d &tf, const Frame *withRespectTo=Frame::World()) |
| If the given joint is a FreeJoint, then set the transform of the given Joint's child BodyNode so that its transform with respect to "withRespecTo" is equal to "tf".
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static void | setTransform (BodyNode *bodyNode, const Eigen::Isometry3d &tf, const Frame *withRespectTo=Frame::World()) |
| If the parent Joint of the given BodyNode is a FreeJoint, then set the transform of the given BodyNode so that its transform with respect to "withRespecTo" is equal to "tf".
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static void | setTransformOf (BodyNode *bodyNode, const Eigen::Isometry3d &tf, const Frame *withRespectTo=Frame::World()) |
| If the parent Joint of the given BodyNode is a FreeJoint, then set the transform of the given BodyNode so that its transform with respect to "withRespecTo" is equal to "tf".
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static void | setTransform (Skeleton *skeleton, const Eigen::Isometry3d &tf, const Frame *withRespectTo=Frame::World(), bool applyToAllRootBodies=true) |
| Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes of the given Skeleton.
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static void | setTransformOf (Skeleton *skeleton, const Eigen::Isometry3d &tf, const Frame *withRespectTo=Frame::World(), bool applyToAllRootBodies=true) |
| Apply setTransform(bodyNode, tf, withRespecTo) for all the root BodyNodes of the given Skeleton.
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