MetaSkeleton is a pure abstract base class that provides a common interface for obtaining data (such as Jacobians and Mass Matrices) from groups of BodyNodes. More...

#include <MetaSkeleton.hpp>

Inheritance diagram for dart::dynamics::MetaSkeleton:

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

Public Member Functions
	MetaSkeleton (const MetaSkeleton &)=delete

virtual	~MetaSkeleton ()=default
	Default destructor. More...

virtual MetaSkeletonPtr	cloneMetaSkeleton (const std::string &cloneName) const =0
	Creates an identical clone of this MetaSkeleton. More...

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

virtual std::unique_ptr< common::LockableReference >	getLockableReference () const =0
	Returns mutex. More...

Name
virtual const std::string &	setName (const std::string &_name)=0
	Set the name of this MetaSkeleton. More...

virtual const std::string &	getName () const =0
	Get the name of this MetaSkeleton. More...

Structural Properties
virtual std::size_t	getNumBodyNodes () const =0
	Get number of body nodes. More...

virtual BodyNode *	getBodyNode (std::size_t _idx)=0
	Get BodyNode whose index is _idx. More...

virtual const BodyNode *	getBodyNode (std::size_t _idx) const =0
	Get const BodyNode whose index is _idx. More...

virtual BodyNode *	getBodyNode (const std::string &name)=0
	Returns the BodyNode of given name. More...

virtual const BodyNode *	getBodyNode (const std::string &name) const =0
	Returns the BodyNode of given name. More...

virtual const std::vector< BodyNode * > &	getBodyNodes ()=0
	Get all the BodyNodes that are held by this MetaSkeleton. More...

virtual const std::vector< const BodyNode * > &	getBodyNodes () const =0
	Get all the BodyNodes that are held by this MetaSkeleton. More...

virtual std::vector< BodyNode * >	getBodyNodes (const std::string &name)=0
	Returns all the BodyNodes of given name. More...

virtual std::vector< const BodyNode * >	getBodyNodes (const std::string &name) const =0
	Returns all the BodyNodes of given name. More...

virtual bool	hasBodyNode (const BodyNode *bodyNode) const =0
	Returns whether this Skeleton contains `bodyNode`. More...

virtual std::size_t	getIndexOf (const BodyNode *_bn, bool _warning=true) const =0
	Get the index of a specific BodyNode within this ReferentialSkeleton. More...

virtual std::size_t	getNumJoints () const =0
	Get number of Joints. More...

virtual Joint *	getJoint (std::size_t _idx)=0
	Get Joint whose index is _idx. More...

virtual const Joint *	getJoint (std::size_t _idx) const =0
	Get const Joint whose index is _idx. More...

virtual Joint *	getJoint (const std::string &name)=0
	Returns the Joint of given name. More...

virtual const Joint *	getJoint (const std::string &name) const =0
	Returns the joint of given name. More...

virtual std::vector< Joint * >	getJoints ()=0
	Returns all the joints that are held by this MetaSkeleton. More...

virtual std::vector< const Joint * >	getJoints () const =0
	Returns all the joints that are held by this MetaSkeleton. More...

virtual std::vector< Joint * >	getJoints (const std::string &name)=0
	Returns all the Joint of given name. More...

virtual std::vector< const Joint * >	getJoints (const std::string &name) const =0
	Returns all the Joint of given name. More...

virtual bool	hasJoint (const Joint *joint) const =0
	Returns whether this Skeleton contains `join`. More...

virtual std::size_t	getIndexOf (const Joint *_joint, bool _warning=true) const =0
	Get the index of a specific Joint within this ReferentialSkeleton. More...

virtual std::size_t	getNumDofs () const =0
	Return the number of degrees of freedom in this skeleton. More...

virtual DegreeOfFreedom *	getDof (std::size_t _idx)=0
	Get degree of freedom (aka generalized coordinate) whose index is _idx. More...

virtual const DegreeOfFreedom *	getDof (std::size_t _idx) const =0
	Get degree of freedom (aka generalized coordinate) whose index is _idx. More...

virtual const std::vector< DegreeOfFreedom * > &	getDofs ()=0
	Get the vector of DegreesOfFreedom for this MetaSkeleton. More...

virtual std::vector< const DegreeOfFreedom * >	getDofs () const =0
	Get a vector of const DegreesOfFreedom for this MetaSkeleton. More...

virtual std::size_t	getIndexOf (const DegreeOfFreedom *_dof, bool _warning=true) const =0
	Get the index of a specific DegreeOfFreedom within this ReferentialSkeleton. 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
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	getWorldJacobian (const JacobianNode *_node) const =0
	Get the spatial Jacobian targeting the origin of a BodyNode. More...

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

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

Equations of Motion
virtual double	getMass () const =0
	Get the total mass of all BodyNodes in this MetaSkeleton. More...

virtual const Eigen::MatrixXd &	getMassMatrix () const =0
	Get the Mass Matrix of the MetaSkeleton. More...

virtual const Eigen::MatrixXd &	getAugMassMatrix () const =0
	Get augmented mass matrix of the skeleton. More...

virtual const Eigen::MatrixXd &	getInvMassMatrix () const =0
	Get inverse of Mass Matrix of the MetaSkeleton. More...

virtual const Eigen::MatrixXd &	getInvAugMassMatrix () const =0
	Get inverse of augmented Mass Matrix of the MetaSkeleton. More...

virtual const Eigen::VectorXd &	getCoriolisForces () const =0
	Get Coriolis force vector of the MetaSkeleton's BodyNodes. More...

virtual const Eigen::VectorXd &	getGravityForces () const =0
	Get gravity force vector of the MetaSkeleton. More...

virtual const Eigen::VectorXd &	getCoriolisAndGravityForces () const =0
	Get combined vector of Coriolis force and gravity force of the MetaSkeleton. More...

virtual const Eigen::VectorXd &	getExternalForces () const =0
	Get external force vector of the MetaSkeleton. More...

virtual const Eigen::VectorXd &	getConstraintForces () const =0
	Get constraint force vector. More...

virtual void	clearExternalForces ()=0
	Clear the external forces of the BodyNodes in this MetaSkeleton. More...

virtual void	clearInternalForces ()=0
	Clear the internal forces of the BodyNodes in this MetaSkeleton. More...

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

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

virtual double	computeKineticEnergy () const =0
	Get the kinetic energy of this MetaSkeleton. More...

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

virtual double	computePotentialEnergy () const =0
	Get the potential energy of this MetaSkeleton. More...

virtual void	clearCollidingBodies ()=0
	Clear collision flags of the BodyNodes in this MetaSkeleton. More...

Center of Mass Jacobian
virtual Eigen::Vector3d	getCOM (const Frame *_withRespectTo=Frame::World()) const =0
	Get the MetaSkeleton's COM with respect to any Frame (default is World Frame) More...

virtual Eigen::Vector6d	getCOMSpatialVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const =0
	Get the Skeleton's COM spatial velocity in terms of any Frame (default is World Frame) More...

virtual Eigen::Vector3d	getCOMLinearVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const =0
	Get the Skeleton's COM linear velocity in terms of any Frame (default is World Frame) More...

virtual Eigen::Vector6d	getCOMSpatialAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const =0
	Get the Skeleton's COM spatial acceleration in terms of any Frame (default is World Frame) More...

virtual Eigen::Vector3d	getCOMLinearAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const =0
	Get the MetaSkeleton's COM linear acceleration in terms of any Frame (default is World Frame) More...

virtual math::Jacobian	getCOMJacobian (const Frame *_inCoordinatesOf=Frame::World()) const =0
	Get the MetaSkeleton's COM Jacobian in terms of any Frame (default is World Frame) More...

virtual math::LinearJacobian	getCOMLinearJacobian (const Frame *_inCoordinatesOf=Frame::World()) const =0
	Get the MetaSkeleton's COM Linear Jacobian in terms of any Frame (default is World Frame) More...

virtual math::Jacobian	getCOMJacobianSpatialDeriv (const Frame *_inCoordinatesOf=Frame::World()) const =0
	Get the Skeleton's COM Jacobian spatial time derivative in terms of any Frame (default is World Frame). More...

virtual math::LinearJacobian	getCOMLinearJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const =0
	Get the Skeleton's COM Linear Jacobian time derivative in terms of any Frame (default is World Frame). More...

Public Attributes
common::SlotRegister< NameChangedSignal >	onNameChanged

Protected Member Functions
	MetaSkeleton ()
	Default constructor. More...

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
NameChangedSignal	mNameChangedSignal

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

Detailed Description

MetaSkeleton is a pure abstract base class that provides a common interface for obtaining data (such as Jacobians and Mass Matrices) from groups of BodyNodes.

Member Typedef Documentation

◆ NameChangedSignal

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

Constructor & Destructor Documentation

◆ MetaSkeleton() [1/2]

dart::dynamics::MetaSkeleton::MetaSkeleton ( const MetaSkeleton & )

delete

◆ ~MetaSkeleton()

virtual dart::dynamics::MetaSkeleton::~MetaSkeleton ( )

virtualdefault

Default destructor.

◆ MetaSkeleton() [2/2]

dart::dynamics::MetaSkeleton::MetaSkeleton ( )

protected

Default constructor.

Member Function Documentation

◆ addObserver()

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

protectedinherited

Add an Observer to the list of Observers.

◆ clearCollidingBodies()

virtual void dart::dynamics::MetaSkeleton::clearCollidingBodies ( )

pure virtual

Clear collision flags of the BodyNodes in this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ clearExternalForces()

virtual void dart::dynamics::MetaSkeleton::clearExternalForces ( )

pure virtual

Clear the external forces of the BodyNodes in this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ clearInternalForces()

virtual void dart::dynamics::MetaSkeleton::clearInternalForces ( )

pure virtual

Clear the internal forces of the BodyNodes in this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ cloneMetaSkeleton() [1/2]

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

Creates an identical clone of this MetaSkeleton.

◆ cloneMetaSkeleton() [2/2]

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

pure virtual

Creates an identical clone of this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, dart::dynamics::Linkage, dart::dynamics::Group, dart::dynamics::Chain, and dart::dynamics::Branch.

◆ computeKineticEnergy()

virtual double dart::dynamics::MetaSkeleton::computeKineticEnergy ( ) const

pure virtual

Get the kinetic energy of this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ computeLagrangian()

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

Compute and return Lagrangian of this MetaSkeleton.

◆ computePotentialEnergy()

virtual double dart::dynamics::MetaSkeleton::computePotentialEnergy ( ) const

pure virtual

Get the potential energy of this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getAcceleration()

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

Get the acceleration of a single generalized coordinate.

◆ getAccelerationLowerLimit()

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

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

◆ getAccelerationLowerLimits() [1/2]

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

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

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

◆ getAccelerations() [1/2]

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

Get the accelerations for all generalized coordinates.

◆ getAccelerations() [2/2]

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

Get the accelerations for a subset of the generalized coordinates.

◆ getAccelerationUpperLimit()

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

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

◆ getAccelerationUpperLimits() [1/2]

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

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

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

◆ getAngularJacobian() [1/2]

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

pure virtual

Get the angular Jacobian of a BodyNode.

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getAngularJacobian() [2/2]

math::AngularJacobian dart::dynamics::MetaSkeleton::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.

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

◆ getAngularJacobianDeriv()

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

pure virtual

Get the angular Jacobian time derivative of a BodyNode.

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getAugMassMatrix()

virtual const Eigen::MatrixXd& dart::dynamics::MetaSkeleton::getAugMassMatrix ( ) const

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getBodyNode() [1/4]

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

pure virtual

Returns the BodyNode of given name.

Parameters

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

Returns: The body node of given name.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getBodyNode() [2/4]

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

pure virtual

Returns the BodyNode of given name.

Parameters

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

Returns: The body node of given name.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getBodyNode() [3/4]

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

pure virtual

Get const BodyNode whose index is _idx.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getBodyNode() [4/4]

virtual BodyNode* dart::dynamics::MetaSkeleton::getBodyNode ( std::size_t _idx )

pure virtual

Get BodyNode whose index is _idx.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getBodyNodes() [1/4]

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

pure virtual

Get all the BodyNodes that are held by this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getBodyNodes() [2/4]

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

pure virtual

Get all the BodyNodes that are held by this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getBodyNodes() [3/4]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getBodyNodes() [4/4]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCOM()

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

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCOMJacobian()

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

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCOMJacobianSpatialDeriv()

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCOMLinearAcceleration()

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

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCOMLinearJacobian()

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

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCOMLinearJacobianDeriv()

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCOMLinearVelocity()

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

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCommand()

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

Get a single command.

◆ getCommands() [1/2]

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

Get commands for all generalized coordinates.

◆ getCommands() [2/2]

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

Get commands for a subset of the generalized coordinates.

◆ getCOMSpatialAcceleration()

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

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCOMSpatialVelocity()

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

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getConstraintForces()

virtual const Eigen::VectorXd& dart::dynamics::MetaSkeleton::getConstraintForces ( ) const

pure virtual

Get constraint force vector.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCoriolisAndGravityForces()

virtual const Eigen::VectorXd& dart::dynamics::MetaSkeleton::getCoriolisAndGravityForces ( ) const

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getCoriolisForces()

virtual const Eigen::VectorXd& dart::dynamics::MetaSkeleton::getCoriolisForces ( ) const

pure virtual

Get Coriolis force vector of the MetaSkeleton's BodyNodes.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getDof() [1/2]

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

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getDof() [2/2]

virtual DegreeOfFreedom* dart::dynamics::MetaSkeleton::getDof ( std::size_t _idx )

pure virtual

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getDofs() [1/2]

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

pure virtual

Get a vector of const DegreesOfFreedom for this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getDofs() [2/2]

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

pure virtual

Get the vector of DegreesOfFreedom for this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getExternalForces()

virtual const Eigen::VectorXd& dart::dynamics::MetaSkeleton::getExternalForces ( ) const

pure virtual

Get external force vector of the MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getForce()

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

Get the force of a single generalized coordinate.

◆ getForceLowerLimit()

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

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

◆ getForceLowerLimits() [1/2]

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

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

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

◆ getForces() [1/2]

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

Get the forces for all generalized coordinates.

◆ getForces() [2/2]

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

Get the forces for a subset of the generalized coordinates.

◆ getForceUpperLimit()

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

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

◆ getForceUpperLimits() [1/2]

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

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

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

◆ getGravityForces()

virtual const Eigen::VectorXd& dart::dynamics::MetaSkeleton::getGravityForces ( ) const

pure virtual

Get gravity force vector of the MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getIndexOf() [1/3]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getIndexOf() [2/3]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getIndexOf() [3/3]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getInvAugMassMatrix()

virtual const Eigen::MatrixXd& dart::dynamics::MetaSkeleton::getInvAugMassMatrix ( ) const

pure virtual

Get inverse of augmented Mass Matrix of the MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getInvMassMatrix()

virtual const Eigen::MatrixXd& dart::dynamics::MetaSkeleton::getInvMassMatrix ( ) const

pure virtual

Get inverse of Mass Matrix of the MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobian() [1/6]

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

pure virtual

Get the spatial Jacobian targeting the origin of a BodyNode.

The Jacobian is expressed in the Frame of the BodyNode.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobian() [2/6]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobian() [3/6]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobian() [4/6]

math::Jacobian dart::dynamics::MetaSkeleton::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.

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

◆ getJacobian() [5/6]

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

pure virtual

Get the spatial Jacobian targeting the origin of a BodyNode.

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobian() [6/6]

math::Jacobian dart::dynamics::MetaSkeleton::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.

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

◆ getJacobianClassicDeriv() [1/3]

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

pure virtual

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

The Jacobian is expressed in the World Frame.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobianClassicDeriv() [2/3]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobianClassicDeriv() [3/3]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobianSpatialDeriv() [1/6]

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

pure virtual

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

The Jacobian is expressed in the Frame of the BodyNode.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobianSpatialDeriv() [2/6]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobianSpatialDeriv() [3/6]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobianSpatialDeriv() [4/6]

math::Jacobian dart::dynamics::MetaSkeleton::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.

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

◆ getJacobianSpatialDeriv() [5/6]

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

pure virtual

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

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJacobianSpatialDeriv() [6/6]

math::Jacobian dart::dynamics::MetaSkeleton::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.

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

◆ getJoint() [1/4]

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

pure virtual

Returns the joint of given name.

Parameters

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

Returns: The joint of given name.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJoint() [2/4]

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

pure virtual

Returns the Joint of given name.

Parameters

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

Returns: The joint of given name.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJoint() [3/4]

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

pure virtual

Get const Joint whose index is _idx.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJoint() [4/4]

virtual Joint* dart::dynamics::MetaSkeleton::getJoint ( std::size_t _idx )

pure virtual

Get Joint whose index is _idx.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJointConstraintImpulses()

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

Get the constraint impulses for the generalized coordinates.

◆ getJoints() [1/4]

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

pure virtual

Returns all the joints that are held by this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJoints() [2/4]

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

pure virtual

Returns all the joints that are held by this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJoints() [3/4]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getJoints() [4/4]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getKineticEnergy()

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

Get the kinetic energy of this MetaSkeleton.

◆ getLinearJacobian() [1/4]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getLinearJacobian() [2/4]

math::LinearJacobian dart::dynamics::MetaSkeleton::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.

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

◆ getLinearJacobian() [3/4]

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

pure virtual

Get the linear Jacobian targeting the origin of a BodyNode.

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getLinearJacobian() [4/4]

math::LinearJacobian dart::dynamics::MetaSkeleton::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.

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

◆ getLinearJacobianDeriv() [1/2]

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

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getLinearJacobianDeriv() [2/2]

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

pure virtual

of a BodyNode.

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

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getLockableReference()

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

pure virtual

Returns mutex.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getMass()

virtual double dart::dynamics::MetaSkeleton::getMass ( ) const

pure virtual

Get the total mass of all BodyNodes in this MetaSkeleton.

Note that for the ReferentialSkeleton extension of MetaSkeleton, this will be an O(n) operation, while the Skeleton extension will be O(1).

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getMassMatrix()

virtual const Eigen::MatrixXd& dart::dynamics::MetaSkeleton::getMassMatrix ( ) const

pure virtual

Get the Mass Matrix of the MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getName()

virtual const std::string& dart::dynamics::MetaSkeleton::getName ( ) const

pure virtual

Get the name of this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getNumBodyNodes()

virtual std::size_t dart::dynamics::MetaSkeleton::getNumBodyNodes ( ) const

pure virtual

Get number of body nodes.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getNumDofs()

virtual std::size_t dart::dynamics::MetaSkeleton::getNumDofs ( ) const

pure virtual

Return the number of degrees of freedom in this skeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getNumJoints()

virtual std::size_t dart::dynamics::MetaSkeleton::getNumJoints ( ) const

pure virtual

Get number of Joints.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getPosition()

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

Get the position of a single generalized coordinate.

◆ getPositionLowerLimit()

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

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

◆ getPositionLowerLimits() [1/2]

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

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

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

◆ getPositions() [1/2]

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

Get the positions for all generalized coordinates.

◆ getPositions() [2/2]

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

Get the positions for a subset of the generalized coordinates.

◆ getPositionUpperLimit()

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

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

◆ getPositionUpperLimits() [1/2]

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

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

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

◆ getPotentialEnergy()

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

Get the potential energy of this MetaSkeleton.

◆ getVelocities() [1/2]

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

Get the velocities for all generalized coordinates.

◆ getVelocities() [2/2]

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

Get the velocities for a subset of the generalized coordinates.

◆ getVelocity()

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

Get the velocity of a single generalized coordinate.

◆ getVelocityChanges()

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

Get the velocity changes for all the generalized coordinates.

◆ getVelocityLowerLimit()

double dart::dynamics::MetaSkeleton::getVelocityLowerLimit ( std::size_t _index )

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

◆ getVelocityLowerLimits() [1/2]

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

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

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

◆ getVelocityUpperLimit()

double dart::dynamics::MetaSkeleton::getVelocityUpperLimit ( std::size_t _index )

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

◆ getVelocityUpperLimits() [1/2]

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

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

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

◆ getWorldJacobian() [1/2]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getWorldJacobian ( const JacobianNode * _node ) const

pure virtual

Get the spatial Jacobian targeting the origin of a BodyNode.

The Jacobian is expressed in the World Frame.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ getWorldJacobian() [2/2]

virtual math::Jacobian dart::dynamics::MetaSkeleton::getWorldJacobian	(	const JacobianNode *	_node,
		const Eigen::Vector3d &	_localOffset
	)		const

pure virtual

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.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ hasBodyNode()

virtual bool dart::dynamics::MetaSkeleton::hasBodyNode ( const BodyNode * bodyNode ) const

pure virtual

Returns whether this Skeleton contains bodyNode.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ hasJoint()

virtual bool dart::dynamics::MetaSkeleton::hasJoint ( const Joint * joint ) const

pure virtual

Returns whether this Skeleton contains join.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ removeObserver()

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

protectedinherited

Remove an Observer from the list of Observers.

◆ resetAccelerations()

void dart::dynamics::MetaSkeleton::resetAccelerations ( )

Set all accelerations to zero.

◆ resetCommands()

void dart::dynamics::MetaSkeleton::resetCommands ( )

Set all commands to zero.

◆ resetGeneralizedForces()

void dart::dynamics::MetaSkeleton::resetGeneralizedForces ( )

Set all forces of the generalized coordinates to zero.

◆ resetPositions()

void dart::dynamics::MetaSkeleton::resetPositions ( )

Set all positions to zero.

◆ resetVelocities()

void dart::dynamics::MetaSkeleton::resetVelocities ( )

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
	)

Set the acceleration of a single generalized coordinate.

◆ setAccelerationLowerLimit()

void dart::dynamics::MetaSkeleton::setAccelerationLowerLimit	(	std::size_t	_index,
		double	_acceleration
	)

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

◆ setAccelerationLowerLimits() [1/2]

void dart::dynamics::MetaSkeleton::setAccelerationLowerLimits ( const Eigen::VectorXd & accelerations )

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
	)

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 )

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
	)

Set the accelerations of a subset of the generalized coordinates.

◆ setAccelerationUpperLimit()

void dart::dynamics::MetaSkeleton::setAccelerationUpperLimit	(	std::size_t	_index,
		double	_acceleration
	)

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

◆ setAccelerationUpperLimits() [1/2]

void dart::dynamics::MetaSkeleton::setAccelerationUpperLimits ( const Eigen::VectorXd & accelerations )

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
	)

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

◆ setCommand()

void dart::dynamics::MetaSkeleton::setCommand	(	std::size_t	_index,
		double	_command
	)

Set a single command.

◆ setCommands() [1/2]

void dart::dynamics::MetaSkeleton::setCommands ( const Eigen::VectorXd & _commands )

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
	)

Set commands for a subset of the generalized coordinates.

◆ setForce()

void dart::dynamics::MetaSkeleton::setForce	(	std::size_t	_index,
		double	_force
	)

Set the force of a single generalized coordinate.

◆ setForceLowerLimit()

void dart::dynamics::MetaSkeleton::setForceLowerLimit	(	std::size_t	_index,
		double	_force
	)

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

◆ setForceLowerLimits() [1/2]

void dart::dynamics::MetaSkeleton::setForceLowerLimits ( const Eigen::VectorXd & forces )

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
	)

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 )

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
	)

Set the forces of a subset of the generalized coordinates.

◆ setForceUpperLimit()

void dart::dynamics::MetaSkeleton::setForceUpperLimit	(	std::size_t	_index,
		double	_force
	)

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

◆ setForceUpperLimits() [1/2]

void dart::dynamics::MetaSkeleton::setForceUpperLimits ( const Eigen::VectorXd & forces )

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
	)

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

◆ setJointConstraintImpulses()

void dart::dynamics::MetaSkeleton::setJointConstraintImpulses ( const Eigen::VectorXd & _impulses )

Set the constraint impulses for the generalized coordinates.

◆ setName()

virtual const std::string& dart::dynamics::MetaSkeleton::setName ( const std::string & _name )

pure virtual

Set the name of this MetaSkeleton.

Implemented in dart::dynamics::Skeleton, and dart::dynamics::ReferentialSkeleton.

◆ setPosition()

void dart::dynamics::MetaSkeleton::setPosition	(	std::size_t	index,
		double	_position
	)

Set the position of a single generalized coordinate.

◆ setPositionLowerLimit()

void dart::dynamics::MetaSkeleton::setPositionLowerLimit	(	std::size_t	_index,
		double	_position
	)

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

◆ setPositionLowerLimits() [1/2]

void dart::dynamics::MetaSkeleton::setPositionLowerLimits ( const Eigen::VectorXd & positions )

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
	)

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

◆ setPositions() [1/2]

void dart::dynamics::MetaSkeleton::setPositions ( const Eigen::VectorXd & _positions )

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
	)

Set the positions for a subset of the generalized coordinates.

◆ setPositionUpperLimit()

void dart::dynamics::MetaSkeleton::setPositionUpperLimit	(	std::size_t	_index,
		double	_position
	)

Set the upper limit of a generalized coordainte's position.

◆ setPositionUpperLimits() [1/2]

void dart::dynamics::MetaSkeleton::setPositionUpperLimits ( const Eigen::VectorXd & positions )

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
	)

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

◆ setVelocities() [1/2]

void dart::dynamics::MetaSkeleton::setVelocities ( const Eigen::VectorXd & _velocities )

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
	)

Set the velocities of a subset of the generalized coordinates.

◆ setVelocity()

void dart::dynamics::MetaSkeleton::setVelocity	(	std::size_t	_index,
		double	_velocity
	)

Set the velocity of a single generalized coordinate.

◆ setVelocityLowerLimit()

void dart::dynamics::MetaSkeleton::setVelocityLowerLimit	(	std::size_t	_index,
		double	_velocity
	)

Set the lower limit of a generalized coordinate's velocity.

◆ setVelocityLowerLimits() [1/2]

void dart::dynamics::MetaSkeleton::setVelocityLowerLimits ( const Eigen::VectorXd & velocities )

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
	)

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
	)

Set the upper limit of a generalized coordinate's velocity.

◆ setVelocityUpperLimits() [1/2]

void dart::dynamics::MetaSkeleton::setVelocityUpperLimits ( const Eigen::VectorXd & velocities )

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
	)

Set the upper limits for a subset of the generalized coordinates's velocity.

Member Data Documentation

◆ mNameChangedSignal

NameChangedSignal dart::dynamics::MetaSkeleton::mNameChangedSignal

protected

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ onNameChanged

common::SlotRegister<NameChangedSignal> dart::dynamics::MetaSkeleton::onNameChanged

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ NameChangedSignal

Constructor & Destructor Documentation

◆ MetaSkeleton() [1/2]

◆ ~MetaSkeleton()

◆ MetaSkeleton() [2/2]

Member Function Documentation

◆ addObserver()

◆ clearCollidingBodies()

◆ clearExternalForces()

◆ clearInternalForces()

◆ cloneMetaSkeleton() [1/2]

◆ cloneMetaSkeleton() [2/2]

◆ computeKineticEnergy()

◆ computeLagrangian()

◆ computePotentialEnergy()

◆ getAcceleration()

◆ getAccelerationLowerLimit()

◆ getAccelerationLowerLimits() [1/2]

◆ getAccelerationLowerLimits() [2/2]

◆ getAccelerations() [1/2]

◆ getAccelerations() [2/2]

◆ getAccelerationUpperLimit()

◆ getAccelerationUpperLimits() [1/2]

◆ getAccelerationUpperLimits() [2/2]

◆ getAngularJacobian() [1/2]

◆ getAngularJacobian() [2/2]

◆ getAngularJacobianDeriv()

◆ getAugMassMatrix()

◆ getBodyNode() [1/4]

◆ getBodyNode() [2/4]

◆ getBodyNode() [3/4]

◆ getBodyNode() [4/4]

◆ getBodyNodes() [1/4]

◆ getBodyNodes() [2/4]

◆ getBodyNodes() [3/4]

◆ getBodyNodes() [4/4]

◆ getCOM()

◆ getCOMJacobian()

◆ getCOMJacobianSpatialDeriv()

◆ getCOMLinearAcceleration()

◆ getCOMLinearJacobian()

◆ getCOMLinearJacobianDeriv()

◆ getCOMLinearVelocity()

◆ getCommand()

◆ getCommands() [1/2]

◆ getCommands() [2/2]

◆ getCOMSpatialAcceleration()

◆ getCOMSpatialVelocity()

◆ getConstraintForces()

◆ getCoriolisAndGravityForces()

◆ getCoriolisForces()

◆ getDof() [1/2]

◆ getDof() [2/2]

◆ getDofs() [1/2]

◆ getDofs() [2/2]

◆ getExternalForces()

◆ getForce()

◆ getForceLowerLimit()

◆ getForceLowerLimits() [1/2]

◆ getForceLowerLimits() [2/2]

◆ getForces() [1/2]

◆ getForces() [2/2]

◆ getForceUpperLimit()

◆ getForceUpperLimits() [1/2]

◆ getForceUpperLimits() [2/2]

◆ getGravityForces()

◆ getIndexOf() [1/3]

◆ getIndexOf() [2/3]

◆ getIndexOf() [3/3]

◆ getInvAugMassMatrix()

◆ getInvMassMatrix()

◆ getJacobian() [1/6]

◆ getJacobian() [2/6]