BodyNode class represents a single node of the skeleton. More...

#include <BodyNode.hpp>

Inheritance diagram for dart::dynamics::BodyNode:

Public Types
using	ColShapeAddedSignal = common::Signal< void(const BodyNode *, ConstShapePtr _newColShape)>

using	ColShapeRemovedSignal = ColShapeAddedSignal

using	StructuralChangeSignal = common::Signal< void(const BodyNode *)>

using	CompositeProperties = common::Composite::Properties

using	AllNodeStates = detail::AllNodeStates

using	NodeStateMap = detail::NodeStateMap

using	AllNodeProperties = detail::AllNodeProperties

using	NodePropertiesMap = detail::NodePropertiesMap

using	AspectProperties = detail::BodyNodeAspectProperties

using	Properties = common::Composite::MakeProperties< BodyNode >

using	Impl = EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >

using	Derived = typename Impl::Derived

using	AspectStateData = typename Impl::AspectStateData

using	AspectState = typename Impl::AspectState

using	AspectPropertiesData = typename Impl::AspectPropertiesData

using	Aspect = typename Impl::Aspect

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

using	EntitySignal = common::Signal< void(const Entity *)>

using	FrameChangedSignal = common::Signal< void(const Entity , const Frame _oldFrame, const Frame *_newFrame)>

using	NameChangedSignal = common::Signal< void(const Entity *, const std::string &_oldName, const std::string &_newName)>

template<class Mixin >
using	MakeState = common::MakeCloneable< State, Mixin >
	Use the MakeState class to easily create a State extension from an existing class or struct. More...

template<class Mixin >
using	MakeProperties = common::MakeCloneable< Properties, Mixin >
	Use the MakeProperties class to easily create a Properties extension from an existing class or struct. More...

Public Member Functions
	BodyNode (const BodyNode &)=delete

virtual	~BodyNode ()
	Destructor. More...

virtual SoftBodyNode *	asSoftBodyNode ()
	Convert 'this' into a SoftBodyNode pointer if this BodyNode is a SoftBodyNode, otherwise return nullptr. More...

virtual const SoftBodyNode *	asSoftBodyNode () const
	Convert 'const this' into a SoftBodyNode pointer if this BodyNode is a SoftBodyNode, otherwise return nullptr. More...

void	setAllNodeStates (const AllNodeStates &states)
	Set the Node::State of all Nodes attached to this BodyNode. More...

AllNodeStates	getAllNodeStates () const
	Get the Node::State of all Nodes attached to this BodyNode. More...

void	setAllNodeProperties (const AllNodeProperties &properties)
	Set the Node::Properties of all Nodes attached to this BodyNode. More...

AllNodeProperties	getAllNodeProperties () const
	Get the Node::Properties of all Nodes attached to this BodyNode. More...

void	setProperties (const CompositeProperties &_properties)
	Same as setCompositeProperties() More...

void	setProperties (const AspectProperties &_properties)
	Set the UniqueProperties of this BodyNode. More...

void	setAspectState (const AspectState &state)
	Set the AspectState of this BodyNode. More...

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

Properties	getBodyNodeProperties () const
	Get the Properties of this BodyNode. More...

void	copy (const BodyNode &otherBodyNode)
	Copy the Properties of another BodyNode. More...

void	copy (const BodyNode *otherBodyNode)
	Copy the Properties of another BodyNode. More...

BodyNode &	operator= (const BodyNode &_otherBodyNode)
	Same as copy(const BodyNode&) More...

void	duplicateNodes (const BodyNode *otherBodyNode)
	Give this BodyNode a copy of each Node from otherBodyNode. More...

void	matchNodes (const BodyNode *otherBodyNode)
	Make the Nodes of this BodyNode match the Nodes of otherBodyNode. More...

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

const std::string &	getName () const override
	Get the name of this Node. More...

void	setGravityMode (bool _gravityMode)
	Set whether gravity affects this body. More...

bool	getGravityMode () const
	Return true if gravity mode is enabled. More...

bool	isCollidable () const
	Return true if this body can collide with others bodies. More...

void	setCollidable (bool _isCollidable)
	Set whether this body node will collide with others in the world. More...

void	setMass (double mass)
	Set the mass of the bodynode. More...

double	getMass () const
	Return the mass of the bodynode. More...

void	setMomentOfInertia (double _Ixx, double _Iyy, double _Izz, double _Ixy=0.0, double _Ixz=0.0, double _Iyz=0.0)
	Set moment of inertia defined around the center of mass. More...

void	getMomentOfInertia (double &_Ixx, double &_Iyy, double &_Izz, double &_Ixy, double &_Ixz, double &_Iyz) const
	Return moment of inertia defined around the center of mass. More...

const Eigen::Matrix6d &	getSpatialInertia () const
	Return spatial inertia. More...

void	setInertia (const Inertia &inertia)
	Set the inertia data for this BodyNode. More...

const Inertia &	getInertia () const
	Get the inertia data for this BodyNode. More...

const math::Inertia &	getArticulatedInertia () const
	Return the articulated body inertia. More...

const math::Inertia &	getArticulatedInertiaImplicit () const
	Return the articulated body inertia for implicit joint damping and spring forces. More...

void	setLocalCOM (const Eigen::Vector3d &_com)
	Set center of mass expressed in body frame. More...

const Eigen::Vector3d &	getLocalCOM () const
	Return center of mass expressed in body frame. More...

Eigen::Vector3d	getCOM (const Frame *_withRespectTo=Frame::World()) const
	Return the center of mass with respect to an arbitrary Frame. More...

Eigen::Vector3d	getCOMLinearVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Return the linear velocity of the center of mass, expressed in terms of arbitrary Frames. More...

Eigen::Vector6d	getCOMSpatialVelocity () const
	Return the spatial velocity of the center of mass, expressed in coordinates of this Frame and relative to the World Frame. More...

Eigen::Vector6d	getCOMSpatialVelocity (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Return the spatial velocity of the center of mass, expressed in terms of arbitrary Frames. More...

Eigen::Vector3d	getCOMLinearAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Return the linear acceleration of the center of mass, expressed in terms of arbitary Frames. More...

Eigen::Vector6d	getCOMSpatialAcceleration () const
	Return the acceleration of the center of mass expressed in coordinates of this BodyNode Frame and relative to the World Frame. More...

Eigen::Vector6d	getCOMSpatialAcceleration (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Return the spatial acceleration of the center of mass, expressed in terms of arbitrary Frames. More...

void	setFrictionCoeff (double _coeff)
	Set coefficient of friction in range of [0, ~]. More...

double	getFrictionCoeff () const
	Return frictional coefficient. More...

void	setRestitutionCoeff (double _coeff)
	Set coefficient of restitution in range of [0, 1]. More...

double	getRestitutionCoeff () const
	Return coefficient of restitution. More...

std::size_t	getIndexInSkeleton () const
	Return the index of this BodyNode within its Skeleton. More...

std::size_t	getIndexInTree () const
	Return the index of this BodyNode within its tree. More...

std::size_t	getTreeIndex () const
	Return the index of the tree that this BodyNode belongs to. More...

SkeletonPtr	remove (const std::string &_name="temporary")
	Remove this BodyNode and all of its children (recursively) from their Skeleton. More...

bool	moveTo (BodyNode *_newParent)
	Remove this BodyNode and all of its children (recursively) from their current parent BodyNode, and move them to another parent BodyNode. More...

bool	moveTo (const SkeletonPtr &_newSkeleton, BodyNode *_newParent)
	This is a version of moveTo(BodyNode*) that allows you to explicitly move this BodyNode into a different Skeleton. More...

template<class JointType >
JointType *	moveTo (BodyNode *_newParent, const typename JointType::Properties &_joint=typename JointType::Properties())
	A version of moveTo(BodyNode*) that also changes the Joint type of the parent Joint of this BodyNode. More...

template<class JointType >
JointType *	moveTo (const SkeletonPtr &_newSkeleton, BodyNode *_newParent, const typename JointType::Properties &_joint=typename JointType::Properties())
	A version of moveTo(SkeletonPtr, BodyNode*) that also changes the Joint type of the parent Joint of this BodyNode. More...

SkeletonPtr	split (const std::string &_skeletonName)
	Remove this BodyNode and all of its children (recursively) from their current Skeleton and move them into a newly created Skeleton. More...

template<class JointType >
SkeletonPtr	split (const std::string &_skeletonName, const typename JointType::Properties &_joint=typename JointType::Properties())
	A version of split(const std::string&) that also changes the Joint type of the parent Joint of this BodyNode. More...

template<class JointType >
JointType *	changeParentJointType (const typename JointType::Properties &_joint=typename JointType::Properties())
	Change the Joint type of this BodyNode's parent Joint. More...

std::pair< Joint , BodyNode >	copyTo (BodyNode *_newParent, bool _recursive=true)
	Create clones of this BodyNode and all of its children recursively (unless _recursive is set to false) and attach the clones to the specified BodyNode. More...

std::pair< Joint , BodyNode >	copyTo (const SkeletonPtr &_newSkeleton, BodyNode *_newParent, bool _recursive=true) const
	Create clones of this BodyNode and all of its children recursively (unless recursive is set to false) and attach the clones to the specified BodyNode of the specified Skeleton. More...

template<class JointType >
std::pair< JointType , BodyNode >	copyTo (BodyNode *_newParent, const typename JointType::Properties &_joint=typename JointType::Properties(), bool _recursive=true)
	A version of copyTo(BodyNode*) that also changes the Joint type of the parent Joint of this BodyNode. More...

template<class JointType >
std::pair< JointType , BodyNode >	copyTo (const SkeletonPtr &_newSkeleton, BodyNode *_newParent, const typename JointType::Properties &_joint=typename JointType::Properties(), bool _recursive=true) const
	A version of copyTo(Skeleton,BodyNode) that also changes the Joint type of the parent Joint of this BodyNode. More...

SkeletonPtr	copyAs (const std::string &_skeletonName, bool _recursive=true) const
	Create clones of this BodyNode and all of its children (recursively) and create a new Skeleton with the specified name to attach them to. More...

template<class JointType >
SkeletonPtr	copyAs (const std::string &_skeletonName, const typename JointType::Properties &_joint=typename JointType::Properties(), bool _recursive=true) const
	A version of copyAs(const std::string&) that also changes the Joint type of the root BodyNode. More...

SkeletonPtr	getSkeleton () override
	Return the Skeleton that this Node is attached to. More...

ConstSkeletonPtr	getSkeleton () const override
	Return the Skeleton that this Node is attached to. More...

Joint *	getParentJoint ()
	Return the parent Joint of this BodyNode. More...

const Joint *	getParentJoint () const
	Return the (const) parent Joint of this BodyNode. More...

BodyNode *	getParentBodyNode ()
	Return the parent BodyNdoe of this BodyNode. More...

const BodyNode *	getParentBodyNode () const
	Return the (const) parent BodyNode of this BodyNode. More...

template<class JointType , class NodeType = BodyNode>
std::pair< JointType , NodeType >	createChildJointAndBodyNodePair (const typename JointType::Properties &_jointProperties=typename JointType::Properties(), const typename NodeType::Properties &_bodyProperties=typename NodeType::Properties())
	Create a Joint and BodyNode pair as a child of this BodyNode. More...

std::size_t	getNumChildBodyNodes () const
	Return the number of child BodyNodes. More...

BodyNode *	getChildBodyNode (std::size_t _index)
	Return the _index-th child BodyNode of this BodyNode. More...

const BodyNode *	getChildBodyNode (std::size_t _index) const
	Return the (const) _index-th child BodyNode of this BodyNode. More...

std::size_t	getNumChildJoints () const
	Return the number of child Joints. More...

Joint *	getChildJoint (std::size_t _index)
	Return the _index-th child Joint of this BodyNode. More...

const Joint *	getChildJoint (std::size_t _index) const
	Return the (const) _index-th child Joint of this BodyNode. More...

template<class NodeType , typename... Args>
NodeType *	createNode (Args &&... args)
	Create some Node type and attach it to this BodyNode. More...

std::size_t	getNumShapeNodes () const

ShapeNode *	getShapeNode (std::size_t index)

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

template<class ShapeNodeProperties >
ShapeNode *	createShapeNode (ShapeNodeProperties properties, bool automaticName=true)
	Create an ShapeNode attached to this BodyNode. More...

template<class ShapeType >
ShapeNode *	createShapeNode (const std::shared_ptr< ShapeType > &shape)
	Create a ShapeNode with an automatically assigned name: <BodyNodeName>ShapeNode<#>. More...

template<class ShapeType , class StringType >
ShapeNode *	createShapeNode (const std::shared_ptr< ShapeType > &shape, StringType &&name)
	Create a ShapeNode with the specified name. More...

const std::vector< ShapeNode * >	getShapeNodes ()
	Return the list of ShapeNodes. More...

const std::vector< const ShapeNode * >	getShapeNodes () const
	Return the list of (const) ShapeNodes. More...

void	removeAllShapeNodes ()
	Remove all ShapeNodes from this BodyNode. More...

template<class... Aspects>
ShapeNode *	createShapeNodeWith (const ShapePtr &shape)
	Create a ShapeNode with the specified Aspects and an automatically assigned name: <BodyNodeName>ShapeNode<#>. More...

template<class... Aspects>
ShapeNode *	createShapeNodeWith (const ShapePtr &shape, const std::string &name)
	Create a ShapeNode with the specified name and Aspects. More...

template<class Aspect >
std::size_t	getNumShapeNodesWith () const
	Return the number of ShapeNodes containing given Aspect in this BodyNode. More...

template<class Aspect >
const std::vector< ShapeNode * >	getShapeNodesWith ()
	Return the list of ShapeNodes containing given Aspect. More...

template<class Aspect >
const std::vector< const ShapeNode * >	getShapeNodesWith () const
	Return the list of ShapeNodes containing given Aspect. More...

template<class Aspect >
void	removeAllShapeNodesWith ()
	Remove all ShapeNodes containing given Aspect from this BodyNode. More...

std::size_t	getNumEndEffectors () const

EndEffector *	getEndEffector (std::size_t index)

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

EndEffector *	createEndEffector (const EndEffector::BasicProperties &_properties)
	Create an EndEffector attached to this BodyNode. More...

EndEffector *	createEndEffector (const std::string &_name="EndEffector")
	Create an EndEffector with the specified name. More...

EndEffector *	createEndEffector (const char *_name)
	Create an EndEffector with the specified name. More...

std::size_t	getNumMarkers () const

Marker *	getMarker (std::size_t index)

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

Marker *	createMarker (const std::string &name="marker", const Eigen::Vector3d &position=Eigen::Vector3d::Zero(), const Eigen::Vector4d &color=Eigen::Vector4d::Constant(1.0))
	Create a Marker with the given fields. More...

Marker *	createMarker (const Marker::BasicProperties &properties)
	Create a Marker given its basic properties. More...

bool	dependsOn (std::size_t _genCoordIndex) const override
	Return true if _genCoordIndex-th generalized coordinate. More...

std::size_t	getNumDependentGenCoords () const override
	The number of the generalized coordinates which affect this JacobianNode. More...

std::size_t	getDependentGenCoordIndex (std::size_t _arrayIndex) const override
	Return a generalized coordinate index from the array index (< getNumDependentDofs) More...

const std::vector< std::size_t > &	getDependentGenCoordIndices () const override
	Indices of the generalized coordinates which affect this JacobianNode. More...

std::size_t	getNumDependentDofs () const override
	Same as getNumDependentGenCoords() More...

DegreeOfFreedom *	getDependentDof (std::size_t _index) override
	Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode. More...

const DegreeOfFreedom *	getDependentDof (std::size_t _index) const override
	Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode. More...

const std::vector< DegreeOfFreedom * > &	getDependentDofs () override
	Return a std::vector of DegreeOfFreedom pointers that this Node depends on. More...

const std::vector< const DegreeOfFreedom * > &	getDependentDofs () const override
	Return a std::vector of DegreeOfFreedom pointers that this Node depends on. More...

const std::vector< const DegreeOfFreedom * >	getChainDofs () const override
	Returns a DegreeOfFreedom vector containing the dofs that form a Chain leading up to this JacobianNode from the root of the Skeleton. More...

const Eigen::Isometry3d &	getRelativeTransform () const override
	Get the transform of this BodyNode with respect to its parent BodyNode, which is also its parent Frame. More...

const Eigen::Vector6d &	getRelativeSpatialVelocity () const override
	Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates. More...

const Eigen::Vector6d &	getRelativeSpatialAcceleration () const override
	Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame. More...

const Eigen::Vector6d &	getPrimaryRelativeAcceleration () const override
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration(). More...

const Eigen::Vector6d &	getPartialAcceleration () const override
	Return the partial acceleration of this body. More...

const math::Jacobian &	getJacobian () const override final
	Return the generalized Jacobian targeting the origin of this BodyNode. More...

const math::Jacobian &	getWorldJacobian () const override final
	Return the generalized Jacobian targeting the origin of this BodyNode. More...

const math::Jacobian &	getJacobianSpatialDeriv () const override final
	Return the spatial time derivative of the generalized Jacobian targeting the origin of this BodyNode. More...

const math::Jacobian &	getJacobianClassicDeriv () const override final
	Return the classical time derivative of the generalized Jacobian targeting the origin of this BodyNode. More...

const Eigen::Vector6d &	getBodyVelocityChange () const
	Return the velocity change due to the constraint impulse. More...

void	setColliding (bool _isColliding)
	Set whether this body node is colliding with other objects. More...

bool	isColliding ()
	Return whether this body node is set to be colliding with other objects. More...

void	addExtForce (const Eigen::Vector3d &_force, const Eigen::Vector3d &_offset=Eigen::Vector3d::Zero(), bool _isForceLocal=false, bool _isOffsetLocal=true)
	Add applying linear Cartesian forces to this node. More...

void	setExtForce (const Eigen::Vector3d &_force, const Eigen::Vector3d &_offset=Eigen::Vector3d::Zero(), bool _isForceLocal=false, bool _isOffsetLocal=true)
	Set Applying linear Cartesian forces to this node. More...

void	addExtTorque (const Eigen::Vector3d &_torque, bool _isLocal=false)
	Add applying Cartesian torque to the node. More...

void	setExtTorque (const Eigen::Vector3d &_torque, bool _isLocal=false)
	Set applying Cartesian torque to the node. More...

virtual void	clearExternalForces ()
	Clean up structures that store external forces: mContacts, mFext, mExtForceBody and mExtTorqueBody. More...

virtual void	clearInternalForces ()
	Clear out the generalized forces of the parent Joint and any other forces related to this BodyNode that are internal to the Skeleton. More...

const Eigen::Vector6d &	getExternalForceLocal () const

Eigen::Vector6d	getExternalForceGlobal () const

const Eigen::Vector6d &	getBodyForce () const
	Get spatial body force transmitted from the parent joint. More...

bool	isReactive () const
	Return true if the body can react to force or constraint impulse. More...

void	setConstraintImpulse (const Eigen::Vector6d &_constImp)
	Set constraint impulse. More...

void	addConstraintImpulse (const Eigen::Vector6d &_constImp)
	Add constraint impulse. More...

void	addConstraintImpulse (const Eigen::Vector3d &_constImp, const Eigen::Vector3d &_offset, bool _isImpulseLocal=false, bool _isOffsetLocal=true)
	Add constraint impulse. More...

virtual void	clearConstraintImpulse ()
	Clear constraint impulses and cache data used for impulse-based forward dynamics algorithm. More...

const Eigen::Vector6d &	getConstraintImpulse () const
	Return constraint impulse. More...

double	computeLagrangian (const Eigen::Vector3d &gravity) const
	Return Lagrangian of this body. More...

virtual double	getKineticEnergy () const
	Return kinetic energy. More...

double	computeKineticEnergy () const
	Return kinetic energy. More...

virtual double	getPotentialEnergy (const Eigen::Vector3d &_gravity) const
	Return potential energy. More...

double	computePotentialEnergy (const Eigen::Vector3d &gravity) const
	Return potential energy. More...

Eigen::Vector3d	getLinearMomentum () const
	Return linear momentum. More...

Eigen::Vector3d	getAngularMomentum (const Eigen::Vector3d &_pivot=Eigen::Vector3d::Zero())
	Return angular momentum. More...

void	dirtyTransform () override
	Notify the transformation updates of this Frame and all its children are needed. More...

void	dirtyVelocity () override
	Notify the velocity updates of this Frame and all its children are needed. More...

void	dirtyAcceleration () override
	Notify the acceleration updates of this Frame and all its children are needed. More...

void	notifyArticulatedInertiaUpdate ()
	Notify the Skeleton that the tree of this BodyNode needs an articulated inertia update. More...

void	dirtyArticulatedInertia ()
	Notify the Skeleton that the tree of this BodyNode needs an articulated inertia update. More...

void	notifyExternalForcesUpdate ()
	Tell the Skeleton that the external forces need to be updated. More...

void	dirtyExternalForces ()
	Tell the Skeleton that the external forces need to be updated. More...

void	notifyCoriolisUpdate ()
	Tell the Skeleton that the coriolis forces need to be update. More...

void	dirtyCoriolisForces ()
	Tell the Skeleton that the coriolis forces need to be update. More...

const AspectProperties &	getAspectProperties () const

const AspectState &	getAspectState () const

math::Jacobian	getJacobian (const Frame *_inCoordinatesOf) const override final
	A version of getJacobian() that lets you specify a coordinate Frame to express the Jacobian in. More...

math::Jacobian	getJacobian (const Eigen::Vector3d &_offset) const override final
	Return the generalized Jacobian targeting an offset within the Frame of this JacobianNode. More...

math::Jacobian	getJacobian (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf) const override final
	A version of getJacobian(const Eigen::Vector3d&) that lets you specify a coordinate Frame to express the Jacobian in. More...

math::Jacobian	getWorldJacobian (const Eigen::Vector3d &_offset) const override final
	Return the generalized Jacobian targeting an offset in this JacobianNode. More...

math::LinearJacobian	getLinearJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override final
	Return the linear Jacobian targeting the origin of this BodyNode. More...

math::LinearJacobian	getLinearJacobian (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const override final
	Return the generalized Jacobian targeting an offset within the Frame of this BodyNode. More...

math::AngularJacobian	getAngularJacobian (const Frame *_inCoordinatesOf=Frame::World()) const override final
	Return the angular Jacobian targeting the origin of this BodyNode. More...

math::Jacobian	getJacobianSpatialDeriv (const Frame *_inCoordinatesOf) const override final
	A version of getJacobianSpatialDeriv() that can return the Jacobian in coordinates of any Frame. More...

math::Jacobian	getJacobianSpatialDeriv (const Eigen::Vector3d &_offset) const override final
	Return the spatial time derivative of the generalized Jacobian targeting an offset in the Frame of this BodyNode. More...

math::Jacobian	getJacobianSpatialDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf) const override final
	A version of getJacobianSpatialDeriv(const Eigen::Vector3d&) that allows an arbitrary coordinate Frame to be specified. More...

math::Jacobian	getJacobianClassicDeriv (const Frame *_inCoordinatesOf) const override final
	A version of getJacobianClassicDeriv() that can return the Jacobian in coordinates of any Frame. More...

math::Jacobian	getJacobianClassicDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const override final
	A version of getJacobianClassicDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode. More...

math::LinearJacobian	getLinearJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const override final
	Return the linear Jacobian (classical) time derivative, in terms of any coordinate Frame. More...

math::LinearJacobian	getLinearJacobianDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const override final
	A version of getLinearJacobianDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode. More...

math::AngularJacobian	getAngularJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const override final
	Return the angular Jacobian time derivative, in terms of any coordinate Frame. More...

const std::shared_ptr< InverseKinematics > &	getIK (bool _createIfNull=false)
	Get a pointer to an IK module for this JacobianNode. More...

std::shared_ptr< const InverseKinematics >	getIK () const
	Get a pointer to an IK module for this JacobianNode. More...

const std::shared_ptr< InverseKinematics > &	getOrCreateIK ()
	Get a pointer to an IK module for this JacobianNode. More...

const std::shared_ptr< InverseKinematics > &	createIK ()
	Create a new IK module for this JacobianNode. More...

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

void	notifyJacobianUpdate ()
	Notify this BodyNode and all its descendents that their Jacobians need to be updated. More...

void	dirtyJacobian ()
	Notify this BodyNode and all its descendents that their Jacobians need to be updated. More...

void	notifyJacobianDerivUpdate ()
	Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated. More...

void	dirtyJacobianDeriv ()
	Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated. More...

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

virtual const std::string &	setName (const std::string &newName)=0
	Set the name of this Node. More...

const Eigen::Isometry3d &	getWorldTransform () const
	Get the transform of this Frame with respect to the World Frame. More...

Eigen::Isometry3d	getTransform (const Frame *_withRespectTo=Frame::World()) const
	Get the transform of this Frame with respect to some other Frame. More...

Eigen::Isometry3d	getTransform (const Frame withRespectTo, const Frame inCoordinatesOf) const
	Get the transform of this Frame with respect to some other Frame. More...

const Eigen::Vector6d &	getSpatialVelocity () const
	Get the total spatial velocity of this Frame in the coordinates of this Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial velocity of this Frame relative to some other Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Eigen::Vector3d &_offset) const
	Get the spatial velocity of a fixed point in this Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Eigen::Vector3d &_offset, const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial velocity of a fixed point in this Frame. More...

Eigen::Vector3d	getLinearVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear portion of classical velocity of this Frame relative to some other Frame. More...

Eigen::Vector3d	getLinearVelocity (const Eigen::Vector3d &_offset, const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear velocity of a point that is fixed in this Frame. More...

Eigen::Vector3d	getAngularVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the angular portion of classical velocity of this Frame relative to some other Frame. More...

const Eigen::Vector6d &	getSpatialAcceleration () const
	Get the total spatial acceleration of this Frame in the coordinates of this Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial acceleration of this Frame relative to some other Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Eigen::Vector3d &_offset) const
	Get the spatial acceleration of a fixed point in this Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Eigen::Vector3d &_offset, const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial acceleration of a fixed point in this Frame. More...

Eigen::Vector3d	getLinearAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear portion of classical acceleration of this Frame relative to some other Frame. More...

Eigen::Vector3d	getLinearAcceleration (const Eigen::Vector3d &_offset, const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const

Eigen::Vector3d	getAngularAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the angular portion of classical acceleration of this Frame relative to some other Frame. More...

const std::set< Entity * > &	getChildEntities ()
	Get a container with the Entities that are children of this Frame. More...

const std::set< const Entity * >	getChildEntities () const
	Get a container with the Entities that are children of this Frame. More...

std::size_t	getNumChildEntities () const
	Get the number of Entities that are currently children of this Frame. More...

const std::set< Frame * > &	getChildFrames ()
	Get a container with the Frames that are children of this Frame. More...

std::set< const Frame * >	getChildFrames () const
	Get a container with the Frames that are children of this Frame. More...

std::size_t	getNumChildFrames () const
	Get the number of Frames that are currently children of this Frame. More...

bool	isShapeFrame () const
	Returns true if this Frame is a ShapeFrame. More...

virtual ShapeFrame *	asShapeFrame ()
	Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...

virtual const ShapeFrame *	asShapeFrame () const
	Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...

bool	isWorld () const
	Returns true if this Frame is the World Frame. More...

Frame *	getParentFrame ()
	Get the parent (reference) frame of this Entity. More...

const Frame *	getParentFrame () const
	Get the parent (reference) frame of this Entity. More...

bool	descendsFrom (const Frame *_someFrame) const
	Returns true if and only if this Entity is itself (i.e. More...

bool	isFrame () const
	True iff this Entity is also a Frame. More...

bool	isQuiet () const
	Returns true if this Entity is set to be quiet. More...

virtual void	notifyTransformUpdate ()
	Notify the transformation update of this Entity that its parent Frame's pose is needed. More...

bool	needsTransformUpdate () const
	Returns true iff a transform update is needed for this Entity. More...

virtual void	notifyVelocityUpdate ()
	Notify the velocity update of this Entity that its parent Frame's velocity is needed. More...

bool	needsVelocityUpdate () const
	Returns true iff a velocity update is needed for this Entity. More...

virtual void	notifyAccelerationUpdate ()
	Notify the acceleration of this Entity that its parent Frame's acceleration is needed. More...

bool	needsAccelerationUpdate () const
	Returns true iff an acceleration update is needed for this Entity. More...

virtual void	setNodeState (const State &otherState)
	Set the State of this Node. By default, this does nothing. More...

virtual std::unique_ptr< State >	getNodeState () const
	Get the State of this Node. More...

virtual void	copyNodeStateTo (std::unique_ptr< State > &outputState) const
	Copy the State of this Node into a unique_ptr. More...

virtual void	setNodeProperties (const Properties &properties)
	Set the Properties of this Node. By default, this does nothing. More...

virtual std::unique_ptr< Properties >	getNodeProperties () const
	Get the Properties of this Node. More...

virtual void	copyNodePropertiesTo (std::unique_ptr< Properties > &outputProperties) const
	Copy the Properties of this Node into a unique_ptr. More...

BodyNodePtr	getBodyNodePtr ()
	Get a pointer to the BodyNode that this Node is associated with. More...

ConstBodyNodePtr	getBodyNodePtr () const
	Get a pointer to the BodyNode that this Node is associated with. More...

bool	isRemoved () const
	Returns true if this Node has been staged for removal from its BodyNode. More...

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

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

Static Public Member Functions
static Frame *	World ()

static std::shared_ptr< Frame >	WorldShared ()

Public Attributes
Slot registers
common::SlotRegister< ColShapeAddedSignal >	onColShapeAdded
	Slot register for collision shape added signal. More...

common::SlotRegister< ColShapeRemovedSignal >	onColShapeRemoved
	Slot register for collision shape removed signal. More...

common::SlotRegister< StructuralChangeSignal >	onStructuralChange
	Raised when (1) parent BodyNode is changed, (2) moved between Skeletons, (3) parent Joint is changed. More...

Protected Types
enum	ConstructAbstractTag { ConstructAbstract }
	Used when constructing a pure abstract class, because calling the Frame constructor is just a formality. More...

enum	ConstructFrameTag { ConstructFrame }
	Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it. More...

Protected Member Functions
	BodyNode (BodyNode _parentBodyNode, Joint _parentJoint, const Properties &_properties)
	Constructor called by Skeleton class. More...

	BodyNode (const std::tuple< BodyNode , Joint , Properties > &args)
	Delegating constructor. More...

virtual BodyNode *	clone (BodyNode _parentBodyNode, Joint _parentJoint, bool cloneNodes) const
	Create a clone of this BodyNode. More...

Node *	cloneNode (BodyNode *bn) const override final
	This is needed in order to inherit the Node class, but it does nothing. More...

virtual void	init (const SkeletonPtr &_skeleton)
	Initialize the vector members with proper sizes. More...

void	addChildBodyNode (BodyNode *_body)
	Add a child bodynode into the bodynode. More...

virtual void	changeParentFrame (Frame *_newParentFrame) override
	Used by derived classes to change their parent frames. 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...

std::string	registerNameChange (const std::string &newName)
	Inform the Skeleton that the name of this Node has changed. More...

void	attach ()
	Attach the Node to its BodyNode. More...

void	stageForRemoval ()
	When all external references to the Node disappear, it will be deleted. More...

void	setVersionDependentObject (VersionCounter *dependent)

Recursive dynamics routines
void	processNewEntity (Entity *_newChildEntity) override
	Separate generic child Entities from child BodyNodes for more efficient update notices. More...

void	processRemovedEntity (Entity *_oldChildEntity) override
	Remove this Entity from mChildBodyNodes or mNonBodyNodeEntities. More...

virtual void	updateTransform ()
	Update transformation. More...

virtual void	updateVelocity ()
	Update spatial body velocity. More...

virtual void	updatePartialAcceleration () const
	Update partial spatial body acceleration due to parent joint's velocity. More...

virtual void	updateArtInertia (double _timeStep) const
	Update articulated body inertia for forward dynamics. More...

virtual void	updateBiasForce (const Eigen::Vector3d &_gravity, double _timeStep)
	Update bias force associated with the articulated body inertia for forward dynamics. More...

virtual void	updateBiasImpulse ()
	Update bias impulse associated with the articulated body inertia for impulse-based forward dynamics. More...

virtual void	updateAccelerationID ()
	Update spatial body acceleration with the partial spatial body acceleration for inverse dynamics. More...

virtual void	updateAccelerationFD ()
	Update spatial body acceleration for forward dynamics. More...

virtual void	updateVelocityChangeFD ()
	Update spatical body velocity change for impluse-based forward dynamics. More...

virtual void	updateTransmittedForceID (const Eigen::Vector3d &_gravity, bool _withExternalForces=false)
	Update spatial body force for inverse dynamics. More...

virtual void	updateTransmittedForceFD ()
	Update spatial body force for forward dynamics. More...

virtual void	updateTransmittedImpulse ()
	Update spatial body force for impulse-based forward dynamics. More...

virtual void	updateJointForceID (double _timeStep, bool _withDampingForces, bool _withSpringForces)
	Update the joint force for inverse dynamics. More...

virtual void	updateJointForceFD (double _timeStep, bool _withDampingForces, bool _withSpringForces)
	Update the joint force for forward dynamics. More...

virtual void	updateJointImpulseFD ()
	Update the joint impulse for forward dynamics. More...

virtual void	updateConstrainedTerms (double _timeStep)
	Update constrained terms due to the constraint impulses for foward dynamics. More...

Equations of motion related routines
virtual void	updateMassMatrix ()

virtual void	aggregateMassMatrix (Eigen::MatrixXd &_MCol, std::size_t _col)

virtual void	aggregateAugMassMatrix (Eigen::MatrixXd &_MCol, std::size_t _col, double _timeStep)

virtual void	updateInvMassMatrix ()

virtual void	updateInvAugMassMatrix ()

virtual void	aggregateInvMassMatrix (Eigen::MatrixXd &_InvMCol, std::size_t _col)

virtual void	aggregateInvAugMassMatrix (Eigen::MatrixXd &_InvMCol, std::size_t _col, double _timeStep)

virtual void	aggregateCoriolisForceVector (Eigen::VectorXd &_C)

virtual void	aggregateGravityForceVector (Eigen::VectorXd &_g, const Eigen::Vector3d &_gravity)

virtual void	updateCombinedVector ()

virtual void	aggregateCombinedVector (Eigen::VectorXd &_Cg, const Eigen::Vector3d &_gravity)

virtual void	aggregateExternalForces (Eigen::VectorXd &_Fext)
	Aggregate the external forces mFext in the generalized coordinates recursively. More...

virtual void	aggregateSpatialToGeneralized (Eigen::VectorXd &_generalized, const Eigen::Vector6d &_spatial)

void	updateBodyJacobian () const
	Update body Jacobian. More...

void	updateWorldJacobian () const
	Update the World Jacobian. More...

void	updateBodyJacobianSpatialDeriv () const
	Update spatial time derivative of body Jacobian. More...

void	updateWorldJacobianClassicDeriv () const
	Update classic time derivative of body Jacobian. More...

Protected Attributes
int	mID
	A unique ID of this node globally. More...

bool	mIsColliding
	Whether the node is currently in collision with another node. More...

std::size_t	mIndexInSkeleton
	Index of this BodyNode in its Skeleton. More...

std::size_t	mIndexInTree
	Index of this BodyNode in its Tree. More...

std::size_t	mTreeIndex
	Index of this BodyNode's tree. More...

Joint *	mParentJoint
	Parent joint. More...

BodyNode *	mParentBodyNode
	Parent body node. More...

std::vector< BodyNode * >	mChildBodyNodes
	Array of child body nodes. More...

std::set< Entity * >	mNonBodyNodeEntities
	Array of child Entities that are not BodyNodes. More...

std::vector< std::size_t >	mDependentGenCoordIndices
	A increasingly sorted list of dependent dof indices. More...

std::vector< DegreeOfFreedom * >	mDependentDofs
	A version of mDependentGenCoordIndices that holds DegreeOfFreedom pointers instead of indices. More...

std::vector< const DegreeOfFreedom * >	mConstDependentDofs
	Same as mDependentDofs, but holds const pointers. More...

math::Jacobian	mBodyJacobian
	Body Jacobian. More...

math::Jacobian	mWorldJacobian
	Cached World Jacobian. More...

math::Jacobian	mBodyJacobianSpatialDeriv
	Spatial time derivative of body Jacobian. More...

math::Jacobian	mWorldJacobianClassicDeriv
	Classic time derivative of Body Jacobian. More...

Eigen::Vector6d	mPartialAcceleration
	Partial spatial body acceleration due to parent joint's velocity. More...

bool	mIsPartialAccelerationDirty
	Is the partial acceleration vector dirty. More...

Eigen::Vector6d	mF
	Transmitted wrench from parent to the bodynode expressed in body-fixed frame. More...

Eigen::Vector6d	mFgravity
	Spatial gravity force. More...

math::Inertia	mArtInertia
	Articulated body inertia. More...

math::Inertia	mArtInertiaImplicit
	Articulated body inertia for implicit joint damping and spring forces. More...

Eigen::Vector6d	mBiasForce
	Bias force. More...

Eigen::Vector6d	mCg_dV
	Cache data for combined vector of the system. More...

Eigen::Vector6d	mCg_F

Eigen::Vector6d	mG_F
	Cache data for gravity force vector of the system. More...

Eigen::Vector6d	mFext_F
	Cache data for external force vector of the system. More...

Eigen::Vector6d	mM_dV
	Cache data for mass matrix of the system. More...

Eigen::Vector6d	mM_F

Eigen::Vector6d	mInvM_c
	Cache data for inverse mass matrix of the system. More...

Eigen::Vector6d	mInvM_U

Eigen::Vector6d	mArbitrarySpatial
	Cache data for arbitrary spatial value. More...

Eigen::Vector6d	mDelV
	Velocity change due to to external impulsive force exerted on bodies of the parent skeleton. More...

Eigen::Vector6d	mBiasImpulse
	Impulsive bias force due to external impulsive force exerted on bodies of the parent skeleton. More...

Eigen::Vector6d	mConstraintImpulse
	Constraint impulse: contact impulse, dynamic joint impulse. More...

Eigen::Vector6d	mImpF
	Generalized impulsive body force w.r.t. body frame. More...

ColShapeAddedSignal	mColShapeAddedSignal
	Collision shape added signal. More...

ColShapeRemovedSignal	mColShapeRemovedSignal
	Collision shape removed signal. More...

StructuralChangeSignal	mStructuralChangeSignal
	Structural change signal. More...

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

AspectState	mAspectState
	Aspect::State data, directly accessible to your derived class. More...

std::weak_ptr< Skeleton >	mSkeleton
	Weak pointer to the Skeleton this BodyNode belongs to. More...

std::atomic< int >	mReferenceCount
	Reference count for the number of BodyNodePtrs that are referring to this BodyNode. More...

std::shared_ptr< Skeleton >	mReferenceSkeleton
	If mReferenceCount is zero, then mReferenceSkeleton will hold a nullptr. More...

std::shared_ptr< MutexedWeakSkeletonPtr >	mLockedSkeleton
	Shared reference to a weak_ptr of this BodyNode's Skeleton, along with a mutex to ensure thread safety. More...

bool	mIsBodyJacobianDirty
	Dirty flag for body Jacobian. More...

bool	mIsWorldJacobianDirty
	Dirty flag for world Jacobian. More...

bool	mIsBodyJacobianSpatialDerivDirty
	Dirty flag for spatial time derivative of body Jacobian. More...

bool	mIsWorldJacobianClassicDerivDirty
	Dirty flag for the classic time derivative of the Jacobian. More...

std::shared_ptr< InverseKinematics >	mIK
	Inverse kinematics module which gets lazily created upon request. More...

std::unordered_set< JacobianNode * >	mChildJacobianNodes
	JacobianNode children that descend from this JacobianNode. More...

Eigen::Isometry3d	mWorldTransform
	World transform of this Frame. More...

Eigen::Vector6d	mVelocity
	Total velocity of this Frame, in the coordinates of this Frame. More...

Eigen::Vector6d	mAcceleration
	Total acceleration of this Frame, in the coordinates of this Frame. More...

std::set< Frame * >	mChildFrames
	Container of this Frame's child Frames. More...

std::set< Entity * >	mChildEntities
	Container of this Frame's child Entities. More...

Frame *	mParentFrame
	Parent frame of this Entity. More...

bool	mNeedTransformUpdate
	Does this Entity need a Transform update. More...

bool	mNeedVelocityUpdate
	Does this Entity need a Velocity update. More...

bool	mNeedAccelerationUpdate
	Does this Entity need an Acceleration update. More...

FrameChangedSignal	mFrameChangedSignal
	Frame changed signal. More...

NameChangedSignal	mNameChangedSignal
	Name changed signal. More...

EntitySignal	mTransformUpdatedSignal
	Transform changed signal. More...

EntitySignal	mVelocityChangedSignal
	Velocity changed signal. More...

EntitySignal	mAccelerationChangedSignal
	Acceleration changed signal. More...

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

std::weak_ptr< NodeDestructor >	mDestructor
	weak pointer to the destructor for this Node. More...

BodyNode *	mBodyNode
	Pointer to the BodyNode that this Node is attached to. More...

bool	mAmAttached
	bool that tracks whether this Node is attached to its BodyNode More...

std::size_t	mIndexInBodyNode
	The index of this Node within its vector in its BodyNode's NodeMap. More...

std::size_t	mVersion

Static Protected Attributes
static std::size_t	msBodyNodeCount = 0
	Counts the number of nodes globally. More...

Private Types
enum	ConstructWorldTag { ConstructWorld }
	Used when constructing the World. More...

Private Member Functions
void	incrementReferenceCount () const
	Atomically increment the reference count for this BodyNode. More...

void	decrementReferenceCount () const
	Atomically decrement the reference count for this BodyNode. More...

std::shared_ptr< NodeDestructor >	getOrCreateDestructor ()

Private Attributes
std::shared_ptr< NodeDestructor >	mSelfDestructor
	Hold onto a reference to this BodyNode's own Destructor to make sure that it never gets destroyed. More...

const bool	mAmWorld
	Contains whether or not this is the World Frame. More...

bool	mAmShapeFrame
	Contains whether or not this is a ShapeFrame. More...

VersionCounter *	mDependent

Friends
class	Skeleton

class	Joint

class	EndEffector

class	SoftBodyNode

class	PointMass

class	Node

Slot registers
common::SlotRegister< FrameChangedSignal >	onFrameChanged
	Slot register for frame changed signal. More...

common::SlotRegister< NameChangedSignal >	onNameChanged
	Slot register for name changed signal. More...

common::SlotRegister< EntitySignal >	onTransformUpdated
	Slot register for transform updated signal. More...

common::SlotRegister< EntitySignal >	onVelocityChanged
	Slot register for velocity updated signal. More...

common::SlotRegister< EntitySignal >	onAccelerationChanged
	Slot register for acceleration updated signal. More...

const bool	mAmQuiet
	Whether or not this Entity is set to be quiet. More...

bool	mAmFrame
	Whether or not this Entity is a Frame. More...

Detailed Description

BodyNode class represents a single node of the skeleton.

BodyNode is a basic element of the skeleton. BodyNodes are hierarchically connected and have a set of core functions for calculating derivatives.

BodyNode inherits Frame, and a parent Frame of a BodyNode is the parent BodyNode of the BodyNode.

Member Typedef Documentation

◆ AllNodeProperties

using dart::dynamics::BodyNode::AllNodeProperties = detail::AllNodeProperties

◆ AllNodeStates

using dart::dynamics::BodyNode::AllNodeStates = detail::AllNodeStates

◆ Aspect

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

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

inherited

◆ AspectProperties

using dart::dynamics::BodyNode::AspectProperties = detail::BodyNodeAspectProperties

◆ AspectPropertiesData

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

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::AspectPropertiesData = typename Impl::AspectPropertiesData

inherited

◆ AspectState

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

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::AspectState = typename Impl::AspectState

inherited

◆ AspectStateData

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

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::AspectStateData = typename Impl::AspectStateData

inherited

◆ Base

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

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

inherited

◆ ColShapeAddedSignal

using dart::dynamics::BodyNode::ColShapeAddedSignal = common::Signal<void(const BodyNode*, ConstShapePtr _newColShape)>

◆ ColShapeRemovedSignal

using dart::dynamics::BodyNode::ColShapeRemovedSignal = ColShapeAddedSignal

◆ CompositeProperties

using dart::dynamics::BodyNode::CompositeProperties = common::Composite::Properties

◆ Derived

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

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

inherited

◆ EntitySignal

using dart::dynamics::Entity::EntitySignal = common::Signal<void(const Entity*)>

inherited

◆ FrameChangedSignal

using dart::dynamics::Entity::FrameChangedSignal = common::Signal<void( const Entity*, const Frame* _oldFrame, const Frame* _newFrame)>

inherited

◆ Impl

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

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::Impl = EmbedStateAndProperties<DerivedT, StateDataT, PropertiesDataT>

inherited

◆ MakeProperties

template<class Mixin >

using dart::dynamics::Node::MakeProperties = common::MakeCloneable<Properties, Mixin>

inherited

Use the MakeProperties class to easily create a Properties extension from an existing class or struct.

◆ MakeState

template<class Mixin >

using dart::dynamics::Node::MakeState = common::MakeCloneable<State, Mixin>

inherited

Use the MakeState class to easily create a State extension from an existing class or struct.

◆ NameChangedSignal

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

inherited

◆ NodePropertiesMap

using dart::dynamics::BodyNode::NodePropertiesMap = detail::NodePropertiesMap

◆ NodeStateMap

using dart::dynamics::BodyNode::NodeStateMap = detail::NodeStateMap

◆ Properties

using dart::dynamics::BodyNode::Properties = common::Composite::MakeProperties<BodyNode>

◆ StructuralChangeSignal

using dart::dynamics::BodyNode::StructuralChangeSignal = common::Signal<void(const BodyNode*)>

Member Enumeration Documentation

◆ ConstructAbstractTag

enum dart::dynamics::Frame::ConstructAbstractTag

protectedinherited

Used when constructing a pure abstract class, because calling the Frame constructor is just a formality.

Enumerator
ConstructAbstract

◆ ConstructFrameTag

enum dart::dynamics::Entity::ConstructFrameTag

protectedinherited

Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it.

Enumerator
ConstructFrame

◆ ConstructWorldTag

enum dart::dynamics::Frame::ConstructWorldTag

privateinherited

Used when constructing the World.

Enumerator
ConstructWorld

Constructor & Destructor Documentation

◆ BodyNode() [1/3]

dart::dynamics::BodyNode::BodyNode ( const BodyNode & )

delete

◆ ~BodyNode()

dart::dynamics::BodyNode::~BodyNode ( )

virtual

Destructor.

◆ BodyNode() [2/3]

dart::dynamics::BodyNode::BodyNode	(	BodyNode *	_parentBodyNode,
		Joint *	_parentJoint,
		const Properties &	_properties
	)

protected

Constructor called by Skeleton class.

◆ BodyNode() [3/3]

dart::dynamics::BodyNode::BodyNode ( const std::tuple< BodyNode *, Joint *, Properties > & args )

protected

Delegating constructor.

Member Function Documentation

◆ addChildBodyNode()

void dart::dynamics::BodyNode::addChildBodyNode ( BodyNode * _body )

protected

Add a child bodynode into the bodynode.

◆ addConstraintImpulse() [1/2]

void dart::dynamics::BodyNode::addConstraintImpulse	(	const Eigen::Vector3d &	_constImp,
		const Eigen::Vector3d &	_offset,
		bool	_isImpulseLocal = `false`,
		bool	_isOffsetLocal = `true`
	)

Add constraint impulse.

◆ addConstraintImpulse() [2/2]

void dart::dynamics::BodyNode::addConstraintImpulse ( const Eigen::Vector6d & _constImp )

Add constraint impulse.

Parameters

[in] _constImp Spatial constraint impulse w.r.t. body frame

◆ addExtForce()

void dart::dynamics::BodyNode::addExtForce	(	const Eigen::Vector3d &	_force,
		const Eigen::Vector3d &	_offset = `Eigen::Vector3d::Zero()`,
		bool	_isForceLocal = `false`,
		bool	_isOffsetLocal = `true`
	)

Add applying linear Cartesian forces to this node.

A force is defined by a point of application and a force vector. The last two parameters specify frames of the first two parameters. Coordinate transformations are applied when needed. The point of application and the force in local coordinates are stored in mContacts. When conversion is needed, make sure the transformations are avaialble.

◆ addExtTorque()

void dart::dynamics::BodyNode::addExtTorque	(	const Eigen::Vector3d &	_torque,
		bool	_isLocal = `false`
	)

Add applying Cartesian torque to the node.

The torque in local coordinates is accumulated in mExtTorqueBody.

◆ addObserver()

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

protectedinherited

Add an Observer to the list of Observers.

◆ aggregateAugMassMatrix()

void dart::dynamics::BodyNode::aggregateAugMassMatrix	(	Eigen::MatrixXd &	_MCol,
		std::size_t	_col,
		double	_timeStep
	)

protectedvirtual

◆ aggregateCombinedVector()

void dart::dynamics::BodyNode::aggregateCombinedVector	(	Eigen::VectorXd &	_Cg,
		const Eigen::Vector3d &	_gravity
	)

protectedvirtual

◆ aggregateCoriolisForceVector()

void dart::dynamics::BodyNode::aggregateCoriolisForceVector ( Eigen::VectorXd & _C )

protectedvirtual

◆ aggregateExternalForces()

void dart::dynamics::BodyNode::aggregateExternalForces ( Eigen::VectorXd & _Fext )

protectedvirtual

Aggregate the external forces mFext in the generalized coordinates recursively.

◆ aggregateGravityForceVector()

void dart::dynamics::BodyNode::aggregateGravityForceVector	(	Eigen::VectorXd &	_g,
		const Eigen::Vector3d &	_gravity
	)

protectedvirtual

◆ aggregateInvAugMassMatrix()

void dart::dynamics::BodyNode::aggregateInvAugMassMatrix	(	Eigen::MatrixXd &	_InvMCol,
		std::size_t	_col,
		double	_timeStep
	)

protectedvirtual

◆ aggregateInvMassMatrix()

void dart::dynamics::BodyNode::aggregateInvMassMatrix	(	Eigen::MatrixXd &	_InvMCol,
		std::size_t	_col
	)

protectedvirtual

◆ aggregateMassMatrix()

void dart::dynamics::BodyNode::aggregateMassMatrix	(	Eigen::MatrixXd &	_MCol,
		std::size_t	_col
	)

protectedvirtual

◆ aggregateSpatialToGeneralized()

void dart::dynamics::BodyNode::aggregateSpatialToGeneralized	(	Eigen::VectorXd &	_generalized,
		const Eigen::Vector6d &	_spatial
	)

protectedvirtual

◆ asShapeFrame() [1/2]

ShapeFrame * dart::dynamics::Frame::asShapeFrame ( )

virtualinherited

Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

Reimplemented in dart::dynamics::ShapeFrame.

◆ asShapeFrame() [2/2]

const ShapeFrame * dart::dynamics::Frame::asShapeFrame ( ) const

virtualinherited

Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

Reimplemented in dart::dynamics::ShapeFrame.

◆ asSoftBodyNode() [1/2]

SoftBodyNode * dart::dynamics::BodyNode::asSoftBodyNode ( )

virtual

Convert 'this' into a SoftBodyNode pointer if this BodyNode is a SoftBodyNode, otherwise return nullptr.

◆ asSoftBodyNode() [2/2]

const SoftBodyNode * dart::dynamics::BodyNode::asSoftBodyNode ( ) const

virtual

Convert 'const this' into a SoftBodyNode pointer if this BodyNode is a SoftBodyNode, otherwise return nullptr.

◆ attach()

void dart::dynamics::Node::attach ( )

protectedinherited

Attach the Node to its BodyNode.

◆ changeParentFrame()

void dart::dynamics::Frame::changeParentFrame ( Frame * _newParentFrame )

overrideprotectedvirtualinherited

Used by derived classes to change their parent frames.

Reimplemented from dart::dynamics::Entity.

◆ changeParentJointType()

template<class JointType >

JointType * dart::dynamics::BodyNode::changeParentJointType ( const typename JointType::Properties & _joint = typename JointType::Properties() )

Change the Joint type of this BodyNode's parent Joint.

Note that this function will change the indexing of (potentially) all BodyNodes and Joints in the Skeleton.

◆ clearConstraintImpulse()

void dart::dynamics::BodyNode::clearConstraintImpulse ( )

virtual

Clear constraint impulses and cache data used for impulse-based forward dynamics algorithm.

◆ clearExternalForces()

void dart::dynamics::BodyNode::clearExternalForces ( )

virtual

Clean up structures that store external forces: mContacts, mFext, mExtForceBody and mExtTorqueBody.

Called by Skeleton::clearExternalForces.

◆ clearIK()

void dart::dynamics::JacobianNode::clearIK ( )

inherited

Wipe away the IK module for this JacobianNode, leaving it as a nullptr.

◆ clearInternalForces()

void dart::dynamics::BodyNode::clearInternalForces ( )

virtual

Clear out the generalized forces of the parent Joint and any other forces related to this BodyNode that are internal to the Skeleton.

For example, the point mass forces for SoftBodyNodes.

◆ clone()

BodyNode * dart::dynamics::BodyNode::clone	(	BodyNode *	_parentBodyNode,
		Joint *	_parentJoint,
		bool	cloneNodes
	)		const

protectedvirtual

Create a clone of this BodyNode.

This may only be called by the Skeleton class.

◆ cloneNode()

Node * dart::dynamics::BodyNode::cloneNode ( BodyNode * bn ) const

finaloverrideprotectedvirtual

This is needed in order to inherit the Node class, but it does nothing.

Implements dart::dynamics::Node.

◆ computeKineticEnergy()

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

Return kinetic energy.

◆ computeLagrangian()

double dart::dynamics::BodyNode::computeLagrangian ( const Eigen::Vector3d & gravity ) const

Return Lagrangian of this body.

◆ computePotentialEnergy()

double dart::dynamics::BodyNode::computePotentialEnergy ( const Eigen::Vector3d & gravity ) const

Return potential energy.

◆ copy() [1/2]

void dart::dynamics::BodyNode::copy ( const BodyNode & otherBodyNode )

Copy the Properties of another BodyNode.

◆ copy() [2/2]

void dart::dynamics::BodyNode::copy ( const BodyNode * otherBodyNode )

Copy the Properties of another BodyNode.

◆ copyAs() [1/2]

SkeletonPtr dart::dynamics::BodyNode::copyAs	(	const std::string &	_skeletonName,
		bool	_recursive = `true`
	)		const

Create clones of this BodyNode and all of its children (recursively) and create a new Skeleton with the specified name to attach them to.

The Skeleton::Properties of the current Skeleton will also be copied into the new Skeleton that gets created.

◆ copyAs() [2/2]

template<class JointType >

SkeletonPtr dart::dynamics::BodyNode::copyAs	(	const std::string &	_skeletonName,
		const typename JointType::Properties &	_joint = `typename JointType::Properties()`,
		bool	_recursive = `true`
	)		const

A version of copyAs(const std::string&) that also changes the Joint type of the root BodyNode.

◆ copyNodePropertiesTo()

void dart::dynamics::Node::copyNodePropertiesTo ( std::unique_ptr< Properties > & outputProperties ) const

virtualinherited

Copy the Properties of this Node into a unique_ptr.

By default, this simply calls getNodeProperties() and passes the result into the outputProperties, but this function can be overriden to be more performant.

◆ copyNodeStateTo()

void dart::dynamics::Node::copyNodeStateTo ( std::unique_ptr< State > & outputState ) const

virtualinherited

Copy the State of this Node into a unique_ptr.

By default, this simply calls getNodeState() and passes the result into the outputState, but this function can be overriden to be more performant by avoiding allocations.

◆ copyTo() [1/4]

std::pair< Joint , BodyNode > dart::dynamics::BodyNode::copyTo	(	BodyNode *	_newParent,
		bool	_recursive = `true`
	)

Create clones of this BodyNode and all of its children recursively (unless _recursive is set to false) and attach the clones to the specified BodyNode.

The specified BodyNode can be in this Skeleton or a different Skeleton. Passing in nullptr will set the copy as a root node of the current Skeleton.

The return value is a pair of pointers to the root of the newly created BodyNode tree.

◆ copyTo() [2/4]

template<class JointType >

std::pair< JointType , BodyNode > dart::dynamics::BodyNode::copyTo	(	BodyNode *	_newParent,
		const typename JointType::Properties &	_joint = `typename JointType::Properties()`,
		bool	_recursive = `true`
	)

A version of copyTo(BodyNode*) that also changes the Joint type of the parent Joint of this BodyNode.

◆ copyTo() [3/4]

std::pair< Joint , BodyNode > dart::dynamics::BodyNode::copyTo	(	const SkeletonPtr &	_newSkeleton,
		BodyNode *	_newParent,
		bool	_recursive = `true`
	)		const

Create clones of this BodyNode and all of its children recursively (unless recursive is set to false) and attach the clones to the specified BodyNode of the specified Skeleton.

The key differences between this function and the copyTo(BodyNode*) version is that this one allows the copied BodyNode to be const and allows you to copy it as a root node of another Skeleton.

The return value is a pair of pointers to the root of the newly created BodyNode tree.

◆ copyTo() [4/4]

template<class JointType >

std::pair< JointType , BodyNode > dart::dynamics::BodyNode::copyTo	(	const SkeletonPtr &	_newSkeleton,
		BodyNode *	_newParent,
		const typename JointType::Properties &	_joint = `typename JointType::Properties()`,
		bool	_recursive = `true`
	)		const

A version of copyTo(Skeleton*,BodyNode*) that also changes the Joint type of the parent Joint of this BodyNode.

◆ createChildJointAndBodyNodePair()

template<class JointType , class NodeType >

std::pair< JointType , NodeType > dart::dynamics::BodyNode::createChildJointAndBodyNodePair	(	const typename JointType::Properties &	_jointProperties = `typename JointType::Properties()`,
		const typename NodeType::Properties &	_bodyProperties = `typename NodeType::Properties()`
	)

Create a Joint and BodyNode pair as a child of this BodyNode.

◆ createEndEffector() [1/3]

EndEffector * dart::dynamics::BodyNode::createEndEffector ( const char * _name )

Create an EndEffector with the specified name.

◆ createEndEffector() [2/3]

EndEffector * dart::dynamics::BodyNode::createEndEffector ( const EndEffector::BasicProperties & _properties )

Create an EndEffector attached to this BodyNode.

Pass an EndEffector::Properties argument into this function.

◆ createEndEffector() [3/3]

EndEffector * dart::dynamics::BodyNode::createEndEffector ( const std::string & _name = "EndEffector" )

Create an EndEffector with the specified name.

◆ createIK()

const std::shared_ptr< InverseKinematics > & dart::dynamics::JacobianNode::createIK ( )

inherited

Create a new IK module for this JacobianNode.

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

◆ createMarker() [1/2]

Marker * dart::dynamics::BodyNode::createMarker ( const Marker::BasicProperties & properties )

Create a Marker given its basic properties.

◆ createMarker() [2/2]

Marker * dart::dynamics::BodyNode::createMarker	(	const std::string &	name = `"marker"`,
		const Eigen::Vector3d &	position = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector4d &	color = `Eigen::Vector4d::Constant(1.0)`
	)

Create a Marker with the given fields.

◆ createNode()

template<class NodeType , typename... Args>

NodeType * dart::dynamics::BodyNode::createNode ( Args &&... args )

Create some Node type and attach it to this BodyNode.

◆ createShapeNode() [1/3]

template<class ShapeType >

ShapeNode * dart::dynamics::BodyNode::createShapeNode ( const std::shared_ptr< ShapeType > & shape )

Create a ShapeNode with an automatically assigned name: <BodyNodeName>ShapeNode<#>.

◆ createShapeNode() [2/3]

template<class ShapeType , class StringType >

ShapeNode * dart::dynamics::BodyNode::createShapeNode	(	const std::shared_ptr< ShapeType > &	shape,
		StringType &&	name
	)

Create a ShapeNode with the specified name.

◆ createShapeNode() [3/3]

template<class ShapeNodeProperties >

ShapeNode * dart::dynamics::BodyNode::createShapeNode	(	ShapeNodeProperties	properties,
		bool	automaticName = `true`
	)

Create an ShapeNode attached to this BodyNode.

Pass a ShapeNode::Properties argument into its constructor. If automaticName is true, then the mName field of properties will be ignored, and the ShapeNode will be automatically assigned a name: <BodyNodeName>ShapeNode<#>

◆ createShapeNodeWith() [1/2]

template<class... Aspects>

ShapeNode * dart::dynamics::BodyNode::createShapeNodeWith ( const ShapePtr & shape )

Create a ShapeNode with the specified Aspects and an automatically assigned name: <BodyNodeName>ShapeNode<#>.

◆ createShapeNodeWith() [2/2]

template<class... Aspects>

ShapeNode * dart::dynamics::BodyNode::createShapeNodeWith	(	const ShapePtr &	shape,
		const std::string &	name
	)

Create a ShapeNode with the specified name and Aspects.

◆ decrementReferenceCount()

void dart::dynamics::SkeletonRefCountingBase::decrementReferenceCount ( ) const

privateinherited

Atomically decrement the reference count for this BodyNode.

This should only be called by the BodyNodePtr class

◆ dependsOn()

bool dart::dynamics::BodyNode::dependsOn ( std::size_t _genCoordIndex ) const

overridevirtual

Return true if _genCoordIndex-th generalized coordinate.

Implements dart::dynamics::JacobianNode.

◆ descendsFrom()

bool dart::dynamics::Entity::descendsFrom ( const Frame * _someFrame ) const

inherited

Returns true if and only if this Entity is itself (i.e.

this == _someFrame) or depends on (i.e. kinematically descends from) _someFrame.

If _someFrame is nullptr, this returns true in order to accommodate BodyNodes which always have a nullptr BodyNode as the parent of a root BodyNode.

◆ dirtyAcceleration()

void dart::dynamics::BodyNode::dirtyAcceleration ( )

overridevirtual

Notify the acceleration updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Frame.

◆ dirtyArticulatedInertia()

void dart::dynamics::BodyNode::dirtyArticulatedInertia ( )

Notify the Skeleton that the tree of this BodyNode needs an articulated inertia update.

◆ dirtyCoriolisForces()

void dart::dynamics::BodyNode::dirtyCoriolisForces ( )

Tell the Skeleton that the coriolis forces need to be update.

◆ dirtyExternalForces()

void dart::dynamics::BodyNode::dirtyExternalForces ( )

Tell the Skeleton that the external forces need to be updated.

◆ dirtyJacobian()

void dart::dynamics::JacobianNode::dirtyJacobian ( )

inherited

Notify this BodyNode and all its descendents that their Jacobians need to be updated.

◆ dirtyJacobianDeriv()

void dart::dynamics::JacobianNode::dirtyJacobianDeriv ( )

inherited

Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated.

◆ dirtyTransform()

void dart::dynamics::BodyNode::dirtyTransform ( )

overridevirtual

Notify the transformation updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Frame.

◆ dirtyVelocity()

void dart::dynamics::BodyNode::dirtyVelocity ( )

overridevirtual

Notify the velocity updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Frame.

◆ duplicateNodes()

void dart::dynamics::BodyNode::duplicateNodes ( const BodyNode * otherBodyNode )

Give this BodyNode a copy of each Node from otherBodyNode.

◆ getAllNodeProperties()

BodyNode::AllNodeProperties dart::dynamics::BodyNode::getAllNodeProperties ( ) const

Get the Node::Properties of all Nodes attached to this BodyNode.

◆ getAllNodeStates()

BodyNode::AllNodeStates dart::dynamics::BodyNode::getAllNodeStates ( ) const

Get the Node::State of all Nodes attached to this BodyNode.

◆ getAngularAcceleration()

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

inherited

Get the angular portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getAngularJacobian()

math::AngularJacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getAngularJacobian ( const Frame * _inCoordinatesOf = Frame::World() ) const

finaloverridevirtualinherited

Return the angular Jacobian targeting the origin of this BodyNode.

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

Implements dart::dynamics::JacobianNode.

◆ getAngularJacobianDeriv()

math::AngularJacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getAngularJacobianDeriv ( const Frame * _inCoordinatesOf = Frame::World() ) const

finaloverridevirtualinherited

Return the angular Jacobian time derivative, in terms of any coordinate Frame.

Implements dart::dynamics::JacobianNode.

◆ getAngularMomentum()

Eigen::Vector3d dart::dynamics::BodyNode::getAngularMomentum ( const Eigen::Vector3d & _pivot = Eigen::Vector3d::Zero() )

Return angular momentum.

◆ getAngularVelocity()

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

inherited

Get the angular portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getArticulatedInertia()

const math::Inertia & dart::dynamics::BodyNode::getArticulatedInertia ( ) const

Return the articulated body inertia.

◆ getArticulatedInertiaImplicit()

const math::Inertia & dart::dynamics::BodyNode::getArticulatedInertiaImplicit ( ) const

Return the articulated body inertia for implicit joint damping and spring forces.

◆ getAspectProperties()

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

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

inlineinherited

◆ getAspectState()

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

const AspectState& dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::getAspectState

inlineinherited

◆ getBodyForce()

const Eigen::Vector6d & dart::dynamics::BodyNode::getBodyForce ( ) const

Get spatial body force transmitted from the parent joint.

The spatial body force is transmitted to this BodyNode from the parent body through the connecting joint. It is expressed in this BodyNode's frame.

◆ getBodyNodeProperties()

BodyNode::Properties dart::dynamics::BodyNode::getBodyNodeProperties ( ) const

Get the Properties of this BodyNode.

◆ getBodyNodePtr() [1/2]

BodyNodePtr dart::dynamics::Node::getBodyNodePtr ( )

inherited

Get a pointer to the BodyNode that this Node is associated with.

◆ getBodyNodePtr() [2/2]

ConstBodyNodePtr dart::dynamics::Node::getBodyNodePtr ( ) const

inherited

Get a pointer to the BodyNode that this Node is associated with.

◆ getBodyVelocityChange()

const Eigen::Vector6d & dart::dynamics::BodyNode::getBodyVelocityChange ( ) const

Return the velocity change due to the constraint impulse.

◆ getChainDofs()

const std::vector< const DegreeOfFreedom * > dart::dynamics::BodyNode::getChainDofs ( ) const

overridevirtual

Returns a DegreeOfFreedom vector containing the dofs that form a Chain leading up to this JacobianNode from the root of the Skeleton.

Implements dart::dynamics::JacobianNode.

◆ getChildBodyNode() [1/2]

BodyNode * dart::dynamics::BodyNode::getChildBodyNode ( std::size_t _index )

Return the _index-th child BodyNode of this BodyNode.

◆ getChildBodyNode() [2/2]

const BodyNode * dart::dynamics::BodyNode::getChildBodyNode ( std::size_t _index ) const

Return the (const) _index-th child BodyNode of this BodyNode.

◆ getChildEntities() [1/2]

const std::set< Entity * > & dart::dynamics::Frame::getChildEntities ( )

inherited

Get a container with the Entities that are children of this Frame.

std::set is used because Entities may be arbitrarily added and removed from a parent Frame, and each entry should be unique. std::set makes this procedure easier.

◆ getChildEntities() [2/2]

const std::set< const Entity * > dart::dynamics::Frame::getChildEntities ( ) const

inherited

Get a container with the Entities that are children of this Frame.

Note that this is version is slightly less efficient than the non-const version because it needs to rebuild a set where each pointer is converted to be a const pointer.

◆ getChildFrames() [1/2]

const std::set< Frame * > & dart::dynamics::Frame::getChildFrames ( )

inherited

Get a container with the Frames that are children of this Frame.

std::set is used because Frames may be arbitrarily added and removed from a parent Frame, and each entry should be unique.

◆ getChildFrames() [2/2]

std::set< const Frame * > dart::dynamics::Frame::getChildFrames ( ) const

inherited

Get a container with the Frames that are children of this Frame.

Note that this version is less efficient than the non-const version because it needs to rebuild a set so that the entries are const.

◆ getChildJoint() [1/2]

Joint * dart::dynamics::BodyNode::getChildJoint ( std::size_t _index )

Return the _index-th child Joint of this BodyNode.

◆ getChildJoint() [2/2]

const Joint * dart::dynamics::BodyNode::getChildJoint ( std::size_t _index ) const

Return the (const) _index-th child Joint of this BodyNode.

◆ getCOM()

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

Return the center of mass with respect to an arbitrary Frame.

◆ getCOMLinearAcceleration()

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

Return the linear acceleration of the center of mass, expressed in terms of arbitary Frames.

◆ getCOMLinearVelocity()

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

Return the linear velocity of the center of mass, expressed in terms of arbitrary Frames.

◆ getCOMSpatialAcceleration() [1/2]

Eigen::Vector6d dart::dynamics::BodyNode::getCOMSpatialAcceleration ( ) const

Return the acceleration of the center of mass expressed in coordinates of this BodyNode Frame and relative to the World Frame.

◆ getCOMSpatialAcceleration() [2/2]

Eigen::Vector6d dart::dynamics::BodyNode::getCOMSpatialAcceleration	(	const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

Return the spatial acceleration of the center of mass, expressed in terms of arbitrary Frames.

◆ getCOMSpatialVelocity() [1/2]

Eigen::Vector6d dart::dynamics::BodyNode::getCOMSpatialVelocity ( ) const

Return the spatial velocity of the center of mass, expressed in coordinates of this Frame and relative to the World Frame.

◆ getCOMSpatialVelocity() [2/2]

Eigen::Vector6d dart::dynamics::BodyNode::getCOMSpatialVelocity	(	const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

Return the spatial velocity of the center of mass, expressed in terms of arbitrary Frames.

◆ getConstraintImpulse()

const Eigen::Vector6d & dart::dynamics::BodyNode::getConstraintImpulse ( ) const

Return constraint impulse.

◆ getDependentDof() [1/2]

const DegreeOfFreedom * dart::dynamics::BodyNode::getDependentDof ( std::size_t _index ) const

overridevirtual

Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode.

Implements dart::dynamics::JacobianNode.

◆ getDependentDof() [2/2]

DegreeOfFreedom * dart::dynamics::BodyNode::getDependentDof ( std::size_t _index )

overridevirtual

Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode.

Implements dart::dynamics::JacobianNode.

◆ getDependentDofs() [1/2]

const std::vector< const DegreeOfFreedom * > & dart::dynamics::BodyNode::getDependentDofs ( ) const

overridevirtual

Return a std::vector of DegreeOfFreedom pointers that this Node depends on.

Implements dart::dynamics::JacobianNode.

◆ getDependentDofs() [2/2]

const std::vector< DegreeOfFreedom * > & dart::dynamics::BodyNode::getDependentDofs ( )

overridevirtual

Return a std::vector of DegreeOfFreedom pointers that this Node depends on.

Implements dart::dynamics::JacobianNode.

◆ getDependentGenCoordIndex()

std::size_t dart::dynamics::BodyNode::getDependentGenCoordIndex ( std::size_t _arrayIndex ) const

overridevirtual

Return a generalized coordinate index from the array index (< getNumDependentDofs)

Implements dart::dynamics::JacobianNode.

◆ getDependentGenCoordIndices()

const std::vector< std::size_t > & dart::dynamics::BodyNode::getDependentGenCoordIndices ( ) const

overridevirtual

Indices of the generalized coordinates which affect this JacobianNode.

Implements dart::dynamics::JacobianNode.

◆ getEndEffector() [1/2]

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

◆ getEndEffector() [2/2]

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

◆ getExternalForceGlobal()

Eigen::Vector6d dart::dynamics::BodyNode::getExternalForceGlobal ( ) const

◆ getExternalForceLocal()

const Eigen::Vector6d & dart::dynamics::BodyNode::getExternalForceLocal ( ) const

◆ getFrictionCoeff()

double dart::dynamics::BodyNode::getFrictionCoeff ( ) const

Return frictional coefficient.

Deprecated:: Deprecated since DART 6.10. Please set the friction coefficient per ShapeNode of the BodyNode. This will be removed in the next major release.

◆ getGravityMode()

bool dart::dynamics::BodyNode::getGravityMode ( ) const

Return true if gravity mode is enabled.

◆ getIK() [1/2]

std::shared_ptr< const InverseKinematics > dart::dynamics::JacobianNode::getIK ( ) const

inherited

Get a pointer to an IK module for this JacobianNode.

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

◆ getIK() [2/2]

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

inherited

Get a pointer to an IK module for this JacobianNode.

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

◆ getIndexInSkeleton()

std::size_t dart::dynamics::BodyNode::getIndexInSkeleton ( ) const

Return the index of this BodyNode within its Skeleton.

◆ getIndexInTree()

std::size_t dart::dynamics::BodyNode::getIndexInTree ( ) const

Return the index of this BodyNode within its tree.

◆ getInertia()

const Inertia & dart::dynamics::BodyNode::getInertia ( ) const

Get the inertia data for this BodyNode.

◆ getJacobian() [1/4]

const math::Jacobian & dart::dynamics::BodyNode::getJacobian ( ) const

finaloverridevirtual

Return the generalized Jacobian targeting the origin of this BodyNode.

The Jacobian is expressed in the Frame of this BodyNode.

Implements dart::dynamics::JacobianNode.

◆ getJacobian() [2/4]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getJacobian ( const Eigen::Vector3d & _offset ) const

finaloverridevirtualinherited

Return the generalized Jacobian targeting an offset within the Frame of this JacobianNode.

Implements dart::dynamics::JacobianNode.

◆ getJacobian() [3/4]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getJacobian	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf
	)		const

finaloverridevirtualinherited

A version of getJacobian(const Eigen::Vector3d&) that lets you specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::JacobianNode.

◆ getJacobian() [4/4]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getJacobian ( const Frame * _inCoordinatesOf ) const

finaloverridevirtualinherited

A version of getJacobian() that lets you specify a coordinate Frame to express the Jacobian in.

Implements dart::dynamics::JacobianNode.

◆ getJacobianClassicDeriv() [1/3]

const math::Jacobian & dart::dynamics::BodyNode::getJacobianClassicDeriv ( ) const

finaloverridevirtual

Return the classical time derivative of the generalized Jacobian targeting the origin of this BodyNode.

The Jacobian is expressed in the World coordinate Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear and angular vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implements dart::dynamics::JacobianNode.

◆ getJacobianClassicDeriv() [2/3]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getJacobianClassicDeriv	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

finaloverridevirtualinherited

A version of getJacobianClassicDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode.

The offset must be expressed in the coordinates of this BodyNode Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear and angular vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implements dart::dynamics::JacobianNode.

◆ getJacobianClassicDeriv() [3/3]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getJacobianClassicDeriv ( const Frame * _inCoordinatesOf ) const

finaloverridevirtualinherited

A version of getJacobianClassicDeriv() that can return the Jacobian in coordinates of any Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear and angular vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implements dart::dynamics::JacobianNode.

◆ getJacobianSpatialDeriv() [1/4]

const math::Jacobian & dart::dynamics::BodyNode::getJacobianSpatialDeriv ( ) const

finaloverridevirtual

Return the spatial time derivative of the generalized Jacobian targeting the origin of this BodyNode.

The Jacobian is expressed in this BodyNode's coordinate Frame.

NOTE: Since this is a spatial time derivative, it should be used with spatial vectors. If you are using classical linear and angular acceleration vectors, then use getJacobianClassicDeriv(), getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.

Implements dart::dynamics::JacobianNode.

◆ getJacobianSpatialDeriv() [2/4]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getJacobianSpatialDeriv ( const Eigen::Vector3d & _offset ) const

finaloverridevirtualinherited

Return the spatial time derivative of the generalized Jacobian targeting an offset in the Frame of this BodyNode.

The Jacobian is expressed in this BodyNode's coordinate Frame.

NOTE: This Jacobian Derivative is only for use with spatial vectors. If you are using classic linear and angular vectors, then use getJacobianClassicDeriv(), getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.

See also: getJacobianSpatialDeriv()

Implements dart::dynamics::JacobianNode.

◆ getJacobianSpatialDeriv() [3/4]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getJacobianSpatialDeriv	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf
	)		const

finaloverridevirtualinherited

A version of getJacobianSpatialDeriv(const Eigen::Vector3d&) that allows an arbitrary coordinate Frame to be specified.

Implements dart::dynamics::JacobianNode.

◆ getJacobianSpatialDeriv() [4/4]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getJacobianSpatialDeriv ( const Frame * _inCoordinatesOf ) const

finaloverridevirtualinherited

A version of getJacobianSpatialDeriv() that can return the Jacobian in coordinates of any Frame.

NOTE: This Jacobian Derivative is only for use with spatial vectors. If you are using classical linear and angular vectors, then use getJacobianClassicDeriv(), getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.

Implements dart::dynamics::JacobianNode.

◆ getKineticEnergy()

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

virtual

Return kinetic energy.

◆ getLinearAcceleration() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearAcceleration	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

◆ getLinearAcceleration() [2/2]

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

inherited

Get the linear portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getLinearJacobian() [1/2]

math::LinearJacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getLinearJacobian	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

finaloverridevirtualinherited

Return the generalized Jacobian targeting an offset within the Frame of this BodyNode.

Implements dart::dynamics::JacobianNode.

◆ getLinearJacobian() [2/2]

math::LinearJacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getLinearJacobian ( const Frame * _inCoordinatesOf = Frame::World() ) const

finaloverridevirtualinherited

Return the linear Jacobian targeting the origin of this BodyNode.

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

Implements dart::dynamics::JacobianNode.

◆ getLinearJacobianDeriv() [1/2]

math::LinearJacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getLinearJacobianDeriv	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

finaloverridevirtualinherited

A version of getLinearJacobianDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode.

The offset must be expressed in coordinates of this BodyNode Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implements dart::dynamics::JacobianNode.

◆ getLinearJacobianDeriv() [2/2]

math::LinearJacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getLinearJacobianDeriv ( const Frame * _inCoordinatesOf = Frame::World() ) const

finaloverridevirtualinherited

Return the linear Jacobian (classical) time derivative, in terms of any coordinate Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implements dart::dynamics::JacobianNode.

◆ getLinearMomentum()

Eigen::Vector3d dart::dynamics::BodyNode::getLinearMomentum ( ) const

Return linear momentum.

◆ getLinearVelocity() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the linear velocity of a point that is fixed in this Frame.

You can specify a relative Frame, and it can be expressed in the coordinates of any Frame.

◆ getLinearVelocity() [2/2]

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

inherited

Get the linear portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getLocalCOM()

const Eigen::Vector3d & dart::dynamics::BodyNode::getLocalCOM ( ) const

Return center of mass expressed in body frame.

◆ getMarker() [1/2]

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

◆ getMarker() [2/2]

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

◆ getMass()

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

Return the mass of the bodynode.

◆ getMomentOfInertia()

void dart::dynamics::BodyNode::getMomentOfInertia	(	double &	_Ixx,
		double &	_Iyy,
		double &	_Izz,
		double &	_Ixy,
		double &	_Ixz,
		double &	_Iyz
	)		const

Return moment of inertia defined around the center of mass.

◆ getName() [1/2]

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

overridevirtual

Get the name of this Node.

Implements dart::dynamics::Node.

◆ getName() [2/2]

virtual const std::string& dart::dynamics::Node::getName

inherited

Get the name of this Node.

◆ getNodeProperties()

std::unique_ptr< Node::Properties > dart::dynamics::Node::getNodeProperties ( ) const

virtualinherited

Get the Properties of this Node.

By default, this returns a nullptr which implies that the Node has no properties.

◆ getNodeState()

std::unique_ptr< Node::State > dart::dynamics::Node::getNodeState ( ) const

virtualinherited

Get the State of this Node.

By default, this returns a nullptr which implies that the Node is stateless.

◆ getNumChildBodyNodes()

std::size_t dart::dynamics::BodyNode::getNumChildBodyNodes ( ) const

Return the number of child BodyNodes.

◆ getNumChildEntities()

std::size_t dart::dynamics::Frame::getNumChildEntities ( ) const

inherited

Get the number of Entities that are currently children of this Frame.

◆ getNumChildFrames()

std::size_t dart::dynamics::Frame::getNumChildFrames ( ) const

inherited

Get the number of Frames that are currently children of this Frame.

◆ getNumChildJoints()

std::size_t dart::dynamics::BodyNode::getNumChildJoints ( ) const

Return the number of child Joints.

◆ getNumDependentDofs()

std::size_t dart::dynamics::BodyNode::getNumDependentDofs ( ) const

overridevirtual

Same as getNumDependentGenCoords()

Implements dart::dynamics::JacobianNode.

◆ getNumDependentGenCoords()

std::size_t dart::dynamics::BodyNode::getNumDependentGenCoords ( ) const

overridevirtual

The number of the generalized coordinates which affect this JacobianNode.

Implements dart::dynamics::JacobianNode.

◆ getNumEndEffectors()

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

◆ getNumMarkers()

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

◆ getNumShapeNodes()

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

◆ getNumShapeNodesWith()

template<class AspectT >

std::size_t dart::dynamics::BodyNode::getNumShapeNodesWith

Return the number of ShapeNodes containing given Aspect in this BodyNode.

◆ getOrCreateDestructor()

std::shared_ptr< NodeDestructor > dart::dynamics::Node::getOrCreateDestructor ( )

privateinherited

◆ getOrCreateIK()

const std::shared_ptr< InverseKinematics > & dart::dynamics::JacobianNode::getOrCreateIK ( )

inherited

Get a pointer to an IK module for this JacobianNode.

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

◆ getParentBodyNode() [1/2]

BodyNode * dart::dynamics::BodyNode::getParentBodyNode ( )

Return the parent BodyNdoe of this BodyNode.

◆ getParentBodyNode() [2/2]

const BodyNode * dart::dynamics::BodyNode::getParentBodyNode ( ) const

Return the (const) parent BodyNode of this BodyNode.

◆ getParentFrame() [1/2]

Frame * dart::dynamics::Entity::getParentFrame ( )

inherited

Get the parent (reference) frame of this Entity.

◆ getParentFrame() [2/2]

const Frame * dart::dynamics::Entity::getParentFrame ( ) const

inherited

Get the parent (reference) frame of this Entity.

◆ getParentJoint() [1/2]

Joint * dart::dynamics::BodyNode::getParentJoint ( )

Return the parent Joint of this BodyNode.

◆ getParentJoint() [2/2]

const Joint * dart::dynamics::BodyNode::getParentJoint ( ) const

Return the (const) parent Joint of this BodyNode.

◆ getPartialAcceleration()

const Eigen::Vector6d & dart::dynamics::BodyNode::getPartialAcceleration ( ) const

overridevirtual

Return the partial acceleration of this body.

Implements dart::dynamics::Frame.

◆ getPotentialEnergy()

double dart::dynamics::BodyNode::getPotentialEnergy ( const Eigen::Vector3d & _gravity ) const

virtual

Return potential energy.

◆ getPrimaryRelativeAcceleration()

const Eigen::Vector6d & dart::dynamics::BodyNode::getPrimaryRelativeAcceleration ( ) const

overridevirtual

The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration().

We save operations during our forward kinematics by computing and storing the partial acceleration separately from the rest of the Frame's acceleration. getPrimaryRelativeAcceleration() will return the portion of the relative spatial acceleration that is not contained in the partial acceleration. To get the full spatial acceleration of this Frame relative to its parent Frame, use getRelativeSpatialAcceleration(). To get the full spatial acceleration of this Frame relative to the World Frame, use getSpatialAcceleration().

Implements dart::dynamics::Frame.

◆ getRelativeSpatialAcceleration()

const Eigen::Vector6d & dart::dynamics::BodyNode::getRelativeSpatialAcceleration ( ) const

overridevirtual

Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame.

Implements dart::dynamics::Frame.

◆ getRelativeSpatialVelocity()

const Eigen::Vector6d & dart::dynamics::BodyNode::getRelativeSpatialVelocity ( ) const

overridevirtual

Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates.

Implements dart::dynamics::Frame.

◆ getRelativeTransform()

const Eigen::Isometry3d & dart::dynamics::BodyNode::getRelativeTransform ( ) const

overridevirtual

Get the transform of this BodyNode with respect to its parent BodyNode, which is also its parent Frame.

Implements dart::dynamics::Frame.

◆ getRestitutionCoeff()

double dart::dynamics::BodyNode::getRestitutionCoeff ( ) const

Return coefficient of restitution.

Deprecated:: Deprecated since DART 6.10.

Please set the restitution coefficient per ShapeNode of the BodyNode. This will be removed in the next major release.

◆ getShapeNode() [1/2]

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

◆ getShapeNode() [2/2]

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

◆ getShapeNodes() [1/2]

const std::vector< ShapeNode * > dart::dynamics::BodyNode::getShapeNodes ( )

Return the list of ShapeNodes.

◆ getShapeNodes() [2/2]

const std::vector< const ShapeNode * > dart::dynamics::BodyNode::getShapeNodes ( ) const

Return the list of (const) ShapeNodes.

◆ getShapeNodesWith() [1/2]

template<class AspectT >

const std::vector< ShapeNode * > dart::dynamics::BodyNode::getShapeNodesWith

Return the list of ShapeNodes containing given Aspect.

◆ getShapeNodesWith() [2/2]

template<class AspectT >

const std::vector< const ShapeNode * > dart::dynamics::BodyNode::getShapeNodesWith

Return the list of ShapeNodes containing given Aspect.

◆ getSkeleton() [1/2]

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

overridevirtual

Return the Skeleton that this Node is attached to.

Reimplemented from dart::dynamics::Node.

◆ getSkeleton() [2/2]

SkeletonPtr dart::dynamics::BodyNode::getSkeleton ( )

overridevirtual

Return the Skeleton that this Node is attached to.

Reimplemented from dart::dynamics::Node.

◆ getSpatialAcceleration() [1/4]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialAcceleration ( ) const

inherited

Get the total spatial acceleration of this Frame in the coordinates of this Frame.

◆ getSpatialAcceleration() [2/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Eigen::Vector3d & _offset ) const

inherited

Get the spatial acceleration of a fixed point in this Frame.

The acceleration is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialAcceleration() [3/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial acceleration of a fixed point in this Frame.

◆ getSpatialAcceleration() [4/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration	(	const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getSpatialInertia()

const Eigen::Matrix6d & dart::dynamics::BodyNode::getSpatialInertia ( ) const

Return spatial inertia.

◆ getSpatialVelocity() [1/4]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialVelocity ( ) const

inherited

Get the total spatial velocity of this Frame in the coordinates of this Frame.

◆ getSpatialVelocity() [2/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Eigen::Vector3d & _offset ) const

inherited

Get the spatial velocity of a fixed point in this Frame.

The velocity is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialVelocity() [3/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial velocity of a fixed point in this Frame.

◆ getSpatialVelocity() [4/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity	(	const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getTransform() [1/2]

Eigen::Isometry3d dart::dynamics::Frame::getTransform ( const Frame * _withRespectTo = Frame::World() ) const

inherited

Get the transform of this Frame with respect to some other Frame.

◆ getTransform() [2/2]

Eigen::Isometry3d dart::dynamics::Frame::getTransform	(	const Frame *	withRespectTo,
		const Frame *	inCoordinatesOf
	)		const

inherited

Get the transform of this Frame with respect to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getTreeIndex()

std::size_t dart::dynamics::BodyNode::getTreeIndex ( ) const

Return the index of the tree that this BodyNode belongs to.

◆ getVersion()

std::size_t dart::common::VersionCounter::getVersion ( ) const

virtualinherited

Get the version number of this object.

◆ getWorldJacobian() [1/2]

const math::Jacobian & dart::dynamics::BodyNode::getWorldJacobian ( ) const

finaloverridevirtual

Return the generalized Jacobian targeting the origin of this BodyNode.

The Jacobian is expressed in the World Frame.

Implements dart::dynamics::JacobianNode.

◆ getWorldJacobian() [2/2]

math::Jacobian dart::dynamics::TemplatedJacobianNode< BodyNode >::getWorldJacobian ( const Eigen::Vector3d & _offset ) const

finaloverridevirtualinherited

Return the generalized Jacobian targeting an offset in this JacobianNode.

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

Implements dart::dynamics::JacobianNode.

◆ getWorldTransform()

const Eigen::Isometry3d & dart::dynamics::Frame::getWorldTransform ( ) const

inherited

Get the transform of this Frame with respect to the World Frame.

◆ incrementReferenceCount()

void dart::dynamics::SkeletonRefCountingBase::incrementReferenceCount ( ) const

privateinherited

Atomically increment the reference count for this BodyNode.

This should only be called by the BodyNodePtr class

◆ incrementVersion()

std::size_t dart::common::VersionCounter::incrementVersion ( )

virtualinherited

Increment the version for this object.

Reimplemented in dart::dynamics::Shape.

◆ init()

void dart::dynamics::BodyNode::init ( const SkeletonPtr & _skeleton )

protectedvirtual

Initialize the vector members with proper sizes.

◆ isCollidable()

bool dart::dynamics::BodyNode::isCollidable ( ) const

Return true if this body can collide with others bodies.

◆ isColliding()

bool dart::dynamics::BodyNode::isColliding ( )

Return whether this body node is set to be colliding with other objects.

Returns: True if this body node is colliding.

◆ isFrame()

bool dart::dynamics::Entity::isFrame ( ) const

inherited

True iff this Entity is also a Frame.

◆ isQuiet()

bool dart::dynamics::Entity::isQuiet ( ) const

inherited

Returns true if this Entity is set to be quiet.

A quiet entity is unknown to its parent Frame. It will not be tracked by its parent; it will not receive notifications from its parent, and it will not be rendered. The advantage to a quiet Entity is that it has less overhead when constructing and deconstructing, which makes it more suitable for temporary objects.

◆ isReactive()

bool dart::dynamics::BodyNode::isReactive ( ) const

Return true if the body can react to force or constraint impulse.

A body node is reactive if the skeleton is mobile and the number of dependent generalized coordinates is non zero.

◆ isRemoved()

bool dart::dynamics::Node::isRemoved ( ) const

inherited

Returns true if this Node has been staged for removal from its BodyNode.

It will be deleted once all strong references to it expire. If it is an AccessoryNode, you can call reattach() to prevent that from happening.

◆ isShapeFrame()

bool dart::dynamics::Frame::isShapeFrame ( ) const

inherited

Returns true if this Frame is a ShapeFrame.

◆ isWorld()

bool dart::dynamics::Frame::isWorld ( ) const

inherited

Returns true if this Frame is the World Frame.

◆ matchNodes()

void dart::dynamics::BodyNode::matchNodes ( const BodyNode * otherBodyNode )

Make the Nodes of this BodyNode match the Nodes of otherBodyNode.

All existing Nodes in this BodyNode will be removed.

◆ moveTo() [1/4]

bool dart::dynamics::BodyNode::moveTo ( BodyNode * _newParent )

Remove this BodyNode and all of its children (recursively) from their current parent BodyNode, and move them to another parent BodyNode.

The new parent BodyNode can either be in a new Skeleton or the current one. If you pass in a nullptr, this BodyNode will become a new root BodyNode for its current Skeleton.

Using this function will result in changes to the indexing of (potentially) all BodyNodes and Joints in the current Skeleton, even if the BodyNodes are kept within the same Skeleton.

◆ moveTo() [2/4]

template<class JointType >

JointType * dart::dynamics::BodyNode::moveTo	(	BodyNode *	_newParent,
		const typename JointType::Properties &	_joint = `typename JointType::Properties()`
	)

A version of moveTo(BodyNode*) that also changes the Joint type of the parent Joint of this BodyNode.

This function returns the pointer to the newly created Joint. The original parent Joint will be deleted.

This function can be used to change the Joint type of the parent Joint of this BodyNode, but note that the indexing of the BodyNodes and Joints in this Skeleton will still be changed, even if only the Joint type is changed.

◆ moveTo() [3/4]

bool dart::dynamics::BodyNode::moveTo	(	const SkeletonPtr &	_newSkeleton,
		BodyNode *	_newParent
	)

This is a version of moveTo(BodyNode*) that allows you to explicitly move this BodyNode into a different Skeleton.

The key difference for this version of the function is that you can make this BodyNode a root node in a different Skeleton, which is not something that can be done by the other version.

◆ moveTo() [4/4]

template<class JointType >

JointType * dart::dynamics::BodyNode::moveTo	(	const SkeletonPtr &	_newSkeleton,
		BodyNode *	_newParent,
		const typename JointType::Properties &	_joint = `typename JointType::Properties()`
	)

A version of moveTo(SkeletonPtr, BodyNode*) that also changes the Joint type of the parent Joint of this BodyNode.

This function returns the pointer to the newly created Joint. The original Joint will be deleted.

◆ needsAccelerationUpdate()

bool dart::dynamics::Entity::needsAccelerationUpdate ( ) const

inherited

Returns true iff an acceleration update is needed for this Entity.

◆ needsTransformUpdate()

bool dart::dynamics::Entity::needsTransformUpdate ( ) const

inherited

Returns true iff a transform update is needed for this Entity.

◆ needsVelocityUpdate()

bool dart::dynamics::Entity::needsVelocityUpdate ( ) const

inherited

Returns true iff a velocity update is needed for this Entity.

◆ notifyAccelerationUpdate()

void dart::dynamics::Entity::notifyAccelerationUpdate ( )

virtualinherited

Notify the acceleration of this Entity that its parent Frame's acceleration is needed.

◆ notifyArticulatedInertiaUpdate()

void dart::dynamics::BodyNode::notifyArticulatedInertiaUpdate ( )

Notify the Skeleton that the tree of this BodyNode needs an articulated inertia update.

◆ notifyCoriolisUpdate()

void dart::dynamics::BodyNode::notifyCoriolisUpdate ( )

Tell the Skeleton that the coriolis forces need to be update.

◆ notifyExternalForcesUpdate()

void dart::dynamics::BodyNode::notifyExternalForcesUpdate ( )

Tell the Skeleton that the external forces need to be updated.

◆ notifyJacobianDerivUpdate()

void dart::dynamics::JacobianNode::notifyJacobianDerivUpdate ( )

inherited

Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated.

◆ notifyJacobianUpdate()

void dart::dynamics::JacobianNode::notifyJacobianUpdate ( )

inherited

Notify this BodyNode and all its descendents that their Jacobians need to be updated.

◆ notifyTransformUpdate()

void dart::dynamics::Entity::notifyTransformUpdate ( )

virtualinherited

Notify the transformation update of this Entity that its parent Frame's pose is needed.

◆ notifyVelocityUpdate()

void dart::dynamics::Entity::notifyVelocityUpdate ( )

virtualinherited

Notify the velocity update of this Entity that its parent Frame's velocity is needed.

◆ operator=()

BodyNode & dart::dynamics::BodyNode::operator= ( const BodyNode & _otherBodyNode )

Same as copy(const BodyNode&)

◆ processNewEntity()

void dart::dynamics::BodyNode::processNewEntity ( Entity * _newChildEntity )

overrideprotectedvirtual

Separate generic child Entities from child BodyNodes for more efficient update notices.

Reimplemented from dart::dynamics::Frame.

◆ processRemovedEntity()

void dart::dynamics::BodyNode::processRemovedEntity ( Entity * _oldChildEntity )

overrideprotectedvirtual

Remove this Entity from mChildBodyNodes or mNonBodyNodeEntities.

Reimplemented from dart::dynamics::Frame.

◆ registerNameChange()

std::string dart::dynamics::Node::registerNameChange ( const std::string & newName )

protectedinherited

Inform the Skeleton that the name of this Node has changed.

If the name is already taken by another Node of the same type, then this function will return a modified version which is unique. If the name is not already taken, then it will just return the same name that the function was given.

◆ remove()

SkeletonPtr dart::dynamics::BodyNode::remove ( const std::string & _name = "temporary" )

Remove this BodyNode and all of its children (recursively) from their Skeleton.

If a BodyNodePtr that references this BodyNode (or any of its children) still exists, the subtree will be moved into a new Skeleton with the given name. If the returned SkeletonPtr goes unused and no relevant BodyNodePtrs are held anywhere, then this BodyNode and all its children will be deleted.

Note that this function is actually the same as split(), but given a different name for semantic reasons.

◆ removeAllShapeNodes()

void dart::dynamics::BodyNode::removeAllShapeNodes ( )

Remove all ShapeNodes from this BodyNode.

◆ removeAllShapeNodesWith()

template<class AspectT >

void dart::dynamics::BodyNode::removeAllShapeNodesWith

Remove all ShapeNodes containing given Aspect from this BodyNode.

◆ removeObserver()

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

protectedinherited

Remove an Observer from the list of Observers.

◆ 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.

◆ setAllNodeProperties()

void dart::dynamics::BodyNode::setAllNodeProperties ( const AllNodeProperties & properties )

Set the Node::Properties of all Nodes attached to this BodyNode.

◆ setAllNodeStates()

void dart::dynamics::BodyNode::setAllNodeStates ( const AllNodeStates & states )

Set the Node::State of all Nodes attached to this BodyNode.

◆ setAspectProperties()

void dart::dynamics::BodyNode::setAspectProperties ( const AspectProperties & properties )

Set the AspectProperties of this BodyNode.

◆ setAspectState()

void dart::dynamics::BodyNode::setAspectState ( const AspectState & state )

Set the AspectState of this BodyNode.

◆ setCollidable()

void dart::dynamics::BodyNode::setCollidable ( bool _isCollidable )

Set whether this body node will collide with others in the world.

Parameters

[in] _isCollidable True to enable collisions

◆ setColliding()

void dart::dynamics::BodyNode::setColliding ( bool _isColliding )

Set whether this body node is colliding with other objects.

Note that this status is set by the constraint solver during dynamics simulation but not by collision detector.

Parameters

[in] _isColliding True if this body node is colliding.

◆ setConstraintImpulse()

void dart::dynamics::BodyNode::setConstraintImpulse ( const Eigen::Vector6d & _constImp )

Set constraint impulse.

Parameters

[in] _constImp Spatial constraint impulse w.r.t. body frame

◆ setExtForce()

void dart::dynamics::BodyNode::setExtForce	(	const Eigen::Vector3d &	_force,
		const Eigen::Vector3d &	_offset = `Eigen::Vector3d::Zero()`,
		bool	_isForceLocal = `false`,
		bool	_isOffsetLocal = `true`
	)

Set Applying linear Cartesian forces to this node.

◆ setExtTorque()

void dart::dynamics::BodyNode::setExtTorque	(	const Eigen::Vector3d &	_torque,
		bool	_isLocal = `false`
	)

Set applying Cartesian torque to the node.

The torque in local coordinates is accumulated in mExtTorqueBody.

◆ setFrictionCoeff()

void dart::dynamics::BodyNode::setFrictionCoeff ( double _coeff )

Set coefficient of friction in range of [0, ~].

Deprecated:: Deprecated since DART 6.10.

Please set the friction coefficient per ShapeNode of the BodyNode. This will be removed in the next major release.

◆ setGravityMode()

void dart::dynamics::BodyNode::setGravityMode ( bool _gravityMode )

Set whether gravity affects this body.

Parameters

[in] _gravityMode True to enable gravity

◆ setInertia()

void dart::dynamics::BodyNode::setInertia ( const Inertia & inertia )

Set the inertia data for this BodyNode.

◆ setLocalCOM()

void dart::dynamics::BodyNode::setLocalCOM ( const Eigen::Vector3d & _com )

Set center of mass expressed in body frame.

◆ setMass()

void dart::dynamics::BodyNode::setMass ( double mass )

Set the mass of the bodynode.

◆ setMomentOfInertia()

void dart::dynamics::BodyNode::setMomentOfInertia	(	double	_Ixx,
		double	_Iyy,
		double	_Izz,
		double	_Ixy = `0.0`,
		double	_Ixz = `0.0`,
		double	_Iyz = `0.0`
	)

Set moment of inertia defined around the center of mass.

Principal moments of inertia (_Ixx, _Iyy, _Izz) must be positive or zero values.

◆ setName() [1/2]

const std::string & dart::dynamics::BodyNode::setName ( const std::string & _name )

overridevirtual

Set name.

If the name is already taken, this will return an altered version which will be used by the Skeleton

Implements dart::dynamics::Node.

◆ setName() [2/2]

virtual const std::string& dart::dynamics::Node::setName

inherited

Set the name of this Node.

◆ setNodeProperties()

void dart::dynamics::Node::setNodeProperties ( const Properties & properties )

virtualinherited

Set the Properties of this Node. By default, this does nothing.

◆ setNodeState()

void dart::dynamics::Node::setNodeState ( const State & otherState )

virtualinherited

Set the State of this Node. By default, this does nothing.

◆ setProperties() [1/2]

void dart::dynamics::BodyNode::setProperties ( const AspectProperties & _properties )

Set the UniqueProperties of this BodyNode.

◆ setProperties() [2/2]

void dart::dynamics::BodyNode::setProperties ( const CompositeProperties & _properties )

Same as setCompositeProperties()

◆ setRestitutionCoeff()

void dart::dynamics::BodyNode::setRestitutionCoeff ( double _coeff )

Set coefficient of restitution in range of [0, 1].

Deprecated:: Deprecated since DART 6.10.

Please set the restitution coefficient per ShapeNode of the BodyNode. This will be removed in the next major release.

◆ setVersionDependentObject()

void dart::common::VersionCounter::setVersionDependentObject ( VersionCounter * dependent )

protectedinherited

◆ split() [1/2]

SkeletonPtr dart::dynamics::BodyNode::split ( const std::string & _skeletonName )

Remove this BodyNode and all of its children (recursively) from their current Skeleton and move them into a newly created Skeleton.

The newly created Skeleton will have the same Skeleton::Properties as the current Skeleton, except it will use the specified name. The return value is a shared_ptr to the newly created Skeleton.

Note that the parent Joint of this BodyNode will remain the same. If you want to change the Joint type of this BodyNode's parent Joint (for example, make it a FreeJoint), then use the templated split<JointType>() function.

◆ split() [2/2]

template<class JointType >

SkeletonPtr dart::dynamics::BodyNode::split	(	const std::string &	_skeletonName,
		const typename JointType::Properties &	_joint = `typename JointType::Properties()`
	)

A version of split(const std::string&) that also changes the Joint type of the parent Joint of this BodyNode.

◆ stageForRemoval()

void dart::dynamics::Node::stageForRemoval ( )

protectedinherited

When all external references to the Node disappear, it will be deleted.

◆ updateAccelerationFD()

void dart::dynamics::BodyNode::updateAccelerationFD ( )

protectedvirtual

Update spatial body acceleration for forward dynamics.

◆ updateAccelerationID()

void dart::dynamics::BodyNode::updateAccelerationID ( )

protectedvirtual

Update spatial body acceleration with the partial spatial body acceleration for inverse dynamics.

◆ updateArtInertia()

void dart::dynamics::BodyNode::updateArtInertia ( double _timeStep ) const

protectedvirtual

Update articulated body inertia for forward dynamics.

Parameters

[in] _timeStep Rquired for implicit joint stiffness and damping.

◆ updateBiasForce()

void dart::dynamics::BodyNode::updateBiasForce	(	const Eigen::Vector3d &	_gravity,
		double	_timeStep
	)

protectedvirtual

Update bias force associated with the articulated body inertia for forward dynamics.

Parameters

[in]	_gravity	Vector of gravitational acceleration
[in]	_timeStep	Rquired for implicit joint stiffness and damping.

◆ updateBiasImpulse()

void dart::dynamics::BodyNode::updateBiasImpulse ( )

protectedvirtual

Update bias impulse associated with the articulated body inertia for impulse-based forward dynamics.

◆ updateBodyJacobian()

void dart::dynamics::BodyNode::updateBodyJacobian ( ) const

protected

Update body Jacobian.

getJacobian() calls this function if mIsBodyJacobianDirty is true.

◆ updateBodyJacobianSpatialDeriv()

void dart::dynamics::BodyNode::updateBodyJacobianSpatialDeriv ( ) const

protected

Update spatial time derivative of body Jacobian.

getJacobianSpatialTimeDeriv() calls this function if mIsBodyJacobianSpatialDerivDirty is true.

◆ updateCombinedVector()

void dart::dynamics::BodyNode::updateCombinedVector ( )

protectedvirtual

◆ updateConstrainedTerms()

void dart::dynamics::BodyNode::updateConstrainedTerms ( double _timeStep )

protectedvirtual

Update constrained terms due to the constraint impulses for foward dynamics.

◆ updateInvAugMassMatrix()

void dart::dynamics::BodyNode::updateInvAugMassMatrix ( )

protectedvirtual

◆ updateInvMassMatrix()

void dart::dynamics::BodyNode::updateInvMassMatrix ( )

protectedvirtual

◆ updateJointForceFD()

void dart::dynamics::BodyNode::updateJointForceFD	(	double	_timeStep,
		bool	_withDampingForces,
		bool	_withSpringForces
	)

protectedvirtual

Update the joint force for forward dynamics.

◆ updateJointForceID()

void dart::dynamics::BodyNode::updateJointForceID	(	double	_timeStep,
		bool	_withDampingForces,
		bool	_withSpringForces
	)

protectedvirtual

Update the joint force for inverse dynamics.

◆ updateJointImpulseFD()

void dart::dynamics::BodyNode::updateJointImpulseFD ( )

protectedvirtual

Update the joint impulse for forward dynamics.

◆ updateMassMatrix()

void dart::dynamics::BodyNode::updateMassMatrix ( )

protectedvirtual

◆ updatePartialAcceleration()

void dart::dynamics::BodyNode::updatePartialAcceleration ( ) const

protectedvirtual

Update partial spatial body acceleration due to parent joint's velocity.

◆ updateTransform()

void dart::dynamics::BodyNode::updateTransform ( )

protectedvirtual

Update transformation.

◆ updateTransmittedForceFD()

void dart::dynamics::BodyNode::updateTransmittedForceFD ( )

protectedvirtual

Update spatial body force for forward dynamics.

The spatial body force is transmitted to this BodyNode from the parent body through the connecting joint. It is expressed in this BodyNode's frame.

◆ updateTransmittedForceID()

void dart::dynamics::BodyNode::updateTransmittedForceID	(	const Eigen::Vector3d &	_gravity,
		bool	_withExternalForces = `false`
	)

protectedvirtual

Update spatial body force for inverse dynamics.

The spatial body force is transmitted to this BodyNode from the parent body through the connecting joint. It is expressed in this BodyNode's frame.

◆ updateTransmittedImpulse()

void dart::dynamics::BodyNode::updateTransmittedImpulse ( )

protectedvirtual

Update spatial body force for impulse-based forward dynamics.

The spatial body impulse is transmitted to this BodyNode from the parent body through the connecting joint. It is expressed in this BodyNode's frame.

◆ updateVelocity()

void dart::dynamics::BodyNode::updateVelocity ( )

protectedvirtual

Update spatial body velocity.

◆ updateVelocityChangeFD()

void dart::dynamics::BodyNode::updateVelocityChangeFD ( )

protectedvirtual

Update spatical body velocity change for impluse-based forward dynamics.

◆ updateWorldJacobian()

void dart::dynamics::BodyNode::updateWorldJacobian ( ) const

protected

Update the World Jacobian.

The commonality of using the World Jacobian makes it worth caching.

◆ updateWorldJacobianClassicDeriv()

void dart::dynamics::BodyNode::updateWorldJacobianClassicDeriv ( ) const

protected

Update classic time derivative of body Jacobian.

getJacobianClassicDeriv() calls this function if mIsWorldJacobianClassicDerivDirty is true.

◆ World()

Frame * dart::dynamics::Frame::World ( )

staticinherited

◆ WorldShared()

std::shared_ptr< Frame > dart::dynamics::Frame::WorldShared ( )

staticinherited

Friends And Related Function Documentation

◆ EndEffector

friend class EndEffector

friend

◆ Joint

friend class Joint

friend

◆ Node

friend class Node

friend

◆ PointMass

friend class PointMass

friend

◆ Skeleton

friend class Skeleton

friend

◆ SoftBodyNode

friend class SoftBodyNode

friend

Member Data Documentation

◆ mAcceleration

Eigen::Vector6d dart::dynamics::Frame::mAcceleration

mutableprotectedinherited

Total acceleration of this Frame, in the coordinates of this Frame.

Do not use directly! Use getSpatialAcceleration() to access this quantity

◆ mAccelerationChangedSignal

EntitySignal dart::dynamics::Entity::mAccelerationChangedSignal

protectedinherited

Acceleration changed signal.

◆ mAmAttached

bool dart::dynamics::Node::mAmAttached

protectedinherited

bool that tracks whether this Node is attached to its BodyNode

◆ mAmFrame

bool dart::dynamics::Entity::mAmFrame

privateinherited

Whether or not this Entity is a Frame.

◆ mAmQuiet

const bool dart::dynamics::Entity::mAmQuiet

privateinherited

Whether or not this Entity is set to be quiet.

◆ mAmShapeFrame

bool dart::dynamics::Frame::mAmShapeFrame

privateinherited

Contains whether or not this is a ShapeFrame.

◆ mAmWorld

const bool dart::dynamics::Frame::mAmWorld

privateinherited

Contains whether or not this is the World Frame.

◆ mArbitrarySpatial

Eigen::Vector6d dart::dynamics::BodyNode::mArbitrarySpatial

protected

Cache data for arbitrary spatial value.

◆ mArtInertia

math::Inertia dart::dynamics::BodyNode::mArtInertia

mutableprotected

Articulated body inertia.

Do not use directly! Use getArticulatedInertia() to access this quantity

◆ mArtInertiaImplicit

math::Inertia dart::dynamics::BodyNode::mArtInertiaImplicit

mutableprotected

Articulated body inertia for implicit joint damping and spring forces.

DO not use directly! Use getArticulatedInertiaImplicit() to access this

◆ mAspectProperties

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

AspectProperties dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::mAspectProperties

protectedinherited

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

◆ mAspectState

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

AspectState dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::mAspectState

protectedinherited

Aspect::State data, directly accessible to your derived class.

◆ mBiasForce

Eigen::Vector6d dart::dynamics::BodyNode::mBiasForce

protected

Bias force.

◆ mBiasImpulse

Eigen::Vector6d dart::dynamics::BodyNode::mBiasImpulse

protected

Impulsive bias force due to external impulsive force exerted on bodies of the parent skeleton.

◆ mBodyJacobian

math::Jacobian dart::dynamics::BodyNode::mBodyJacobian

mutableprotected

Body Jacobian.

Do not use directly! Use getJacobian() to access this quantity

◆ mBodyJacobianSpatialDeriv

math::Jacobian dart::dynamics::BodyNode::mBodyJacobianSpatialDeriv

mutableprotected

Spatial time derivative of body Jacobian.

Do not use directly! Use getJacobianSpatialDeriv() to access this quantity

◆ mBodyNode

BodyNode* dart::dynamics::Node::mBodyNode

protectedinherited

Pointer to the BodyNode that this Node is attached to.

◆ mCg_dV

Eigen::Vector6d dart::dynamics::BodyNode::mCg_dV

protected

Cache data for combined vector of the system.

◆ mCg_F

Eigen::Vector6d dart::dynamics::BodyNode::mCg_F

protected

◆ mChildBodyNodes

std::vector<BodyNode*> dart::dynamics::BodyNode::mChildBodyNodes

protected

Array of child body nodes.

◆ mChildEntities

std::set<Entity*> dart::dynamics::Frame::mChildEntities

protectedinherited

Container of this Frame's child Entities.

◆ mChildFrames

std::set<Frame*> dart::dynamics::Frame::mChildFrames

protectedinherited

Container of this Frame's child Frames.

◆ mChildJacobianNodes

std::unordered_set<JacobianNode*> dart::dynamics::JacobianNode::mChildJacobianNodes

protectedinherited

JacobianNode children that descend from this JacobianNode.

◆ mColShapeAddedSignal

ColShapeAddedSignal dart::dynamics::BodyNode::mColShapeAddedSignal

protected

Collision shape added signal.

◆ mColShapeRemovedSignal

ColShapeRemovedSignal dart::dynamics::BodyNode::mColShapeRemovedSignal

protected

Collision shape removed signal.

◆ mConstDependentDofs

std::vector<const DegreeOfFreedom*> dart::dynamics::BodyNode::mConstDependentDofs

protected

Same as mDependentDofs, but holds const pointers.

◆ mConstraintImpulse

Eigen::Vector6d dart::dynamics::BodyNode::mConstraintImpulse

protected

Constraint impulse: contact impulse, dynamic joint impulse.

◆ mDelV

Eigen::Vector6d dart::dynamics::BodyNode::mDelV

protected

Velocity change due to to external impulsive force exerted on bodies of the parent skeleton.

◆ mDependent

VersionCounter* dart::common::VersionCounter::mDependent

privateinherited

◆ mDependentDofs

std::vector<DegreeOfFreedom*> dart::dynamics::BodyNode::mDependentDofs

protected

A version of mDependentGenCoordIndices that holds DegreeOfFreedom pointers instead of indices.

◆ mDependentGenCoordIndices

std::vector<std::size_t> dart::dynamics::BodyNode::mDependentGenCoordIndices

protected

A increasingly sorted list of dependent dof indices.

◆ mDestructor

std::weak_ptr<NodeDestructor> dart::dynamics::Node::mDestructor

protectedinherited

weak pointer to the destructor for this Node.

We use a shared_ptr "destructor" class instead of managing Nodes directly with shared_ptrs because this scheme allows BodyNodes to circumvent the shared_ptr management by setting the mNode member of the Destructor to a nullptr. That way the BodyNode can never be deleted by its Destructor.

◆ mF

Eigen::Vector6d dart::dynamics::BodyNode::mF

protected

Transmitted wrench from parent to the bodynode expressed in body-fixed frame.

◆ mFext_F

Eigen::Vector6d dart::dynamics::BodyNode::mFext_F

protected

Cache data for external force vector of the system.

◆ mFgravity

Eigen::Vector6d dart::dynamics::BodyNode::mFgravity

protected

Spatial gravity force.

◆ mFrameChangedSignal

FrameChangedSignal dart::dynamics::Entity::mFrameChangedSignal

protectedinherited

Frame changed signal.

◆ mG_F

Eigen::Vector6d dart::dynamics::BodyNode::mG_F

protected

Cache data for gravity force vector of the system.

◆ mID

int dart::dynamics::BodyNode::mID

protected

A unique ID of this node globally.

◆ mIK

std::shared_ptr<InverseKinematics> dart::dynamics::JacobianNode::mIK

protectedinherited

Inverse kinematics module which gets lazily created upon request.

◆ mImpF

Eigen::Vector6d dart::dynamics::BodyNode::mImpF

protected

Generalized impulsive body force w.r.t. body frame.

◆ mIndexInBodyNode

std::size_t dart::dynamics::Node::mIndexInBodyNode

protectedinherited

The index of this Node within its vector in its BodyNode's NodeMap.

◆ mIndexInSkeleton

std::size_t dart::dynamics::BodyNode::mIndexInSkeleton

protected

Index of this BodyNode in its Skeleton.

◆ mIndexInTree

std::size_t dart::dynamics::BodyNode::mIndexInTree

protected

Index of this BodyNode in its Tree.

◆ mInvM_c

Eigen::Vector6d dart::dynamics::BodyNode::mInvM_c

protected

Cache data for inverse mass matrix of the system.

◆ mInvM_U

Eigen::Vector6d dart::dynamics::BodyNode::mInvM_U

protected

◆ mIsBodyJacobianDirty

bool dart::dynamics::JacobianNode::mIsBodyJacobianDirty

mutableprotectedinherited

Dirty flag for body Jacobian.

◆ mIsBodyJacobianSpatialDerivDirty

bool dart::dynamics::JacobianNode::mIsBodyJacobianSpatialDerivDirty

mutableprotectedinherited

Dirty flag for spatial time derivative of body Jacobian.

◆ mIsColliding

bool dart::dynamics::BodyNode::mIsColliding

protected

Whether the node is currently in collision with another node.

Deprecated:: DART_DEPRECATED(6.0) See #670 for more detail.

◆ mIsPartialAccelerationDirty

bool dart::dynamics::BodyNode::mIsPartialAccelerationDirty

mutableprotected

Is the partial acceleration vector dirty.

◆ mIsWorldJacobianClassicDerivDirty

bool dart::dynamics::JacobianNode::mIsWorldJacobianClassicDerivDirty

mutableprotectedinherited

Dirty flag for the classic time derivative of the Jacobian.

◆ mIsWorldJacobianDirty

bool dart::dynamics::JacobianNode::mIsWorldJacobianDirty

mutableprotectedinherited

Dirty flag for world Jacobian.

◆ mLockedSkeleton

std::shared_ptr<MutexedWeakSkeletonPtr> dart::dynamics::SkeletonRefCountingBase::mLockedSkeleton

protectedinherited

Shared reference to a weak_ptr of this BodyNode's Skeleton, along with a mutex to ensure thread safety.

This is used by WeakBodyNodePtrs to know when this BodyNode has expired.

◆ mM_dV

Eigen::Vector6d dart::dynamics::BodyNode::mM_dV

protected

Cache data for mass matrix of the system.

◆ mM_F

Eigen::Vector6d dart::dynamics::BodyNode::mM_F

protected

◆ mNameChangedSignal

NameChangedSignal dart::dynamics::Entity::mNameChangedSignal

protectedinherited

Name changed signal.

◆ mNeedAccelerationUpdate

bool dart::dynamics::Entity::mNeedAccelerationUpdate

mutableprotectedinherited

Does this Entity need an Acceleration update.

◆ mNeedTransformUpdate

bool dart::dynamics::Entity::mNeedTransformUpdate

mutableprotectedinherited

Does this Entity need a Transform update.

◆ mNeedVelocityUpdate

bool dart::dynamics::Entity::mNeedVelocityUpdate

mutableprotectedinherited

Does this Entity need a Velocity update.

◆ mNonBodyNodeEntities

std::set<Entity*> dart::dynamics::BodyNode::mNonBodyNodeEntities

protected

Array of child Entities that are not BodyNodes.

Organizing them separately allows some performance optimizations.

◆ mObservers

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

mutableprotectedinherited

List of current Observers.

◆ mParentBodyNode

BodyNode* dart::dynamics::BodyNode::mParentBodyNode

protected

Parent body node.

◆ mParentFrame

Frame* dart::dynamics::Entity::mParentFrame

protectedinherited

Parent frame of this Entity.

◆ mParentJoint

Joint* dart::dynamics::BodyNode::mParentJoint

protected

Parent joint.

◆ mPartialAcceleration

Eigen::Vector6d dart::dynamics::BodyNode::mPartialAcceleration

mutableprotected

Partial spatial body acceleration due to parent joint's velocity.

Do not use directly! Use getPartialAcceleration() to access this quantity

◆ mReferenceCount

std::atomic<int> dart::dynamics::SkeletonRefCountingBase::mReferenceCount

mutableprotectedinherited

Reference count for the number of BodyNodePtrs that are referring to this BodyNode.

◆ mReferenceSkeleton

std::shared_ptr<Skeleton> dart::dynamics::SkeletonRefCountingBase::mReferenceSkeleton

mutableprotectedinherited

If mReferenceCount is zero, then mReferenceSkeleton will hold a nullptr.

If mReferenceCount is greater than zero, then mReferenceSkeleton will hold a shared_ptr to the Skeleton that this BodyNode belongs to. This is to keep this BodyNode alive, so long as a BodyNodePtr that references it exists.

◆ msBodyNodeCount

std::size_t dart::dynamics::BodyNode::msBodyNodeCount = 0

staticprotected

Counts the number of nodes globally.

◆ mSelfDestructor

std::shared_ptr<NodeDestructor> dart::dynamics::BodyNode::mSelfDestructor

private

Hold onto a reference to this BodyNode's own Destructor to make sure that it never gets destroyed.

◆ mSkeleton

std::weak_ptr<Skeleton> dart::dynamics::SkeletonRefCountingBase::mSkeleton

protectedinherited

Weak pointer to the Skeleton this BodyNode belongs to.

◆ mStructuralChangeSignal

StructuralChangeSignal dart::dynamics::BodyNode::mStructuralChangeSignal

protected

Structural change signal.

◆ mTransformUpdatedSignal

EntitySignal dart::dynamics::Entity::mTransformUpdatedSignal

protectedinherited

Transform changed signal.

◆ mTreeIndex

std::size_t dart::dynamics::BodyNode::mTreeIndex

protected

Index of this BodyNode's tree.

◆ mVelocity

Eigen::Vector6d dart::dynamics::Frame::mVelocity

mutableprotectedinherited

Total velocity of this Frame, in the coordinates of this Frame.

Do not use directly! Use getSpatialVelocity() to access this quantity

◆ mVelocityChangedSignal

EntitySignal dart::dynamics::Entity::mVelocityChangedSignal

protectedinherited

Velocity changed signal.

◆ mVersion

std::size_t dart::common::VersionCounter::mVersion

protectedinherited

◆ mWorldJacobian

math::Jacobian dart::dynamics::BodyNode::mWorldJacobian

mutableprotected

Cached World Jacobian.

Do not use directly! Use getJacobian() to access this quantity

◆ mWorldJacobianClassicDeriv

math::Jacobian dart::dynamics::BodyNode::mWorldJacobianClassicDeriv

mutableprotected

Classic time derivative of Body Jacobian.

Do not use directly! Use getJacobianClassicDeriv() to access this quantity

◆ mWorldTransform

Eigen::Isometry3d dart::dynamics::Frame::mWorldTransform

mutableprotectedinherited

World transform of this Frame.

This object is mutable to enable auto-updating to happen in the const member getWorldTransform() function

Do not use directly! Use getWorldTransform() to access this quantity

◆ onAccelerationChanged

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onAccelerationChanged

inherited

Slot register for acceleration updated signal.

◆ onColShapeAdded

common::SlotRegister<ColShapeAddedSignal> dart::dynamics::BodyNode::onColShapeAdded

Slot register for collision shape added signal.

◆ onColShapeRemoved

common::SlotRegister<ColShapeRemovedSignal> dart::dynamics::BodyNode::onColShapeRemoved

Slot register for collision shape removed signal.

◆ onFrameChanged

common::SlotRegister<FrameChangedSignal> dart::dynamics::Entity::onFrameChanged

inherited

Slot register for frame changed signal.

◆ onNameChanged

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

inherited

Slot register for name changed signal.

◆ onStructuralChange

common::SlotRegister<StructuralChangeSignal> dart::dynamics::BodyNode::onStructuralChange

mutable

Raised when (1) parent BodyNode is changed, (2) moved between Skeletons, (3) parent Joint is changed.

◆ onTransformUpdated

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onTransformUpdated

inherited

Slot register for transform updated signal.

◆ onVelocityChanged

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onVelocityChanged

inherited

Slot register for velocity updated signal.

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Private Types

Private Member Functions

Private Attributes

Friends

Slot registers

Detailed Description

Member Typedef Documentation

◆ AllNodeProperties

◆ AllNodeStates

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ AspectState

◆ AspectStateData

◆ Base

◆ ColShapeAddedSignal

◆ ColShapeRemovedSignal

◆ CompositeProperties

◆ Derived

◆ EntitySignal

◆ FrameChangedSignal

◆ Impl

◆ MakeProperties

◆ MakeState

◆ NameChangedSignal

◆ NodePropertiesMap

◆ NodeStateMap

◆ Properties

◆ StructuralChangeSignal

Member Enumeration Documentation

◆ ConstructAbstractTag

◆ ConstructFrameTag

◆ ConstructWorldTag

Constructor & Destructor Documentation

◆ BodyNode() [1/3]

◆ ~BodyNode()

◆ BodyNode() [2/3]

◆ BodyNode() [3/3]

Member Function Documentation

◆ addChildBodyNode()

◆ addConstraintImpulse() [1/2]

◆ addConstraintImpulse() [2/2]

◆ addExtForce()

◆ addExtTorque()

◆ addObserver()

◆ aggregateAugMassMatrix()

◆ aggregateCombinedVector()

◆ aggregateCoriolisForceVector()

◆ aggregateExternalForces()

◆ aggregateGravityForceVector()

◆ aggregateInvAugMassMatrix()

◆ aggregateInvMassMatrix()

◆ aggregateMassMatrix()

◆ aggregateSpatialToGeneralized()

◆ asShapeFrame() [1/2]

◆ asShapeFrame() [2/2]

◆ asSoftBodyNode() [1/2]

◆ asSoftBodyNode() [2/2]

◆ attach()

◆ changeParentFrame()

◆ changeParentJointType()

◆ clearConstraintImpulse()

◆ clearExternalForces()

◆ clearIK()

◆ clearInternalForces()

◆ clone()

◆ cloneNode()

◆ computeKineticEnergy()

◆ computeLagrangian()

◆ computePotentialEnergy()

◆ copy() [1/2]

◆ copy() [2/2]