33 #ifndef DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
34 #define DART_DYNAMICS_FIXEDJACOBIANNODE_HPP_
49 bool dependsOn(std::size_t _genCoordIndex)
const override;
73 const std::vector<const DegreeOfFreedom*>&
getDependentDofs()
const override;
76 const std::vector<const DegreeOfFreedom*>
getChainDofs()
const override;
159 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
AccessoryNode provides an interface for Nodes to get their index within the list of Nodes,...
Definition: Node.hpp:238
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:79
DegreeOfFreedom class is a proxy class for accessing single degrees of freedom (aka generalized coord...
Definition: DegreeOfFreedom.hpp:55
Definition: FixedJacobianNode.hpp:43
void updateBodyJacobianSpatialDeriv() const
Update the spatial time derivative of the Fixed Frame Jacobian.
Definition: FixedJacobianNode.cpp:187
void setRelativeTransform(const Eigen::Isometry3d &newRelativeTf) override
Set the current relative transform of this Fixed Frame.
Definition: FixedJacobianNode.cpp:40
bool dependsOn(std::size_t _genCoordIndex) const override
Definition: FixedJacobianNode.cpp:53
const std::vector< DegreeOfFreedom * > & getDependentDofs() override
Definition: FixedJacobianNode.cpp:98
void updateWorldJacobianClassicDeriv() const
Update the classic time derivative of the Fixed Frame Jacobian.
Definition: FixedJacobianNode.cpp:196
std::size_t getNumDependentGenCoords() const override
Definition: FixedJacobianNode.cpp:59
void updateBodyJacobian() const
Update the Jacobian of this Fixed Frame.
Definition: FixedJacobianNode.cpp:171
std::size_t getDependentGenCoordIndex(std::size_t _arrayIndex) const override
Definition: FixedJacobianNode.cpp:65
const std::vector< std::size_t > & getDependentGenCoordIndices() const override
Definition: FixedJacobianNode.cpp:72
Cache mCache
Definition: FixedJacobianNode.hpp:162
const math::Jacobian & getWorldJacobian() const override final
Definition: FixedJacobianNode.cpp:127
DegreeOfFreedom * getDependentDof(std::size_t _index) override
Definition: FixedJacobianNode.cpp:85
FixedJacobianNode(BodyNode *parent, const Eigen::Isometry3d &transform)
Constructor.
Definition: FixedJacobianNode.cpp:154
std::size_t getNumDependentDofs() const override
Definition: FixedJacobianNode.cpp:79
const math::Jacobian & getJacobianClassicDeriv() const override final
Definition: FixedJacobianNode.cpp:145
void updateWorldJacobian() const
Update the World Jacobian cache.
Definition: FixedJacobianNode.cpp:179
const std::vector< const DegreeOfFreedom * > getChainDofs() const override
Definition: FixedJacobianNode.cpp:111
const math::Jacobian & getJacobianSpatialDeriv() const override final
Definition: FixedJacobianNode.cpp:136
const math::Jacobian & getJacobian() const override final
Definition: FixedJacobianNode.cpp:118
TemplatedJacobianNode provides a curiously recurring template pattern implementation of the various J...
Definition: TemplatedJacobianNode.hpp:51
dart::collision::fcl::Vector3 transform(const dart::collision::fcl::Transform3 &t, const dart::collision::fcl::Vector3 &v)
Transforms a 3-dim vector by a transform and returns the result.
Definition: BackwardCompatibility.cpp:133
Eigen::Matrix< double, 6, Eigen::Dynamic > Jacobian
Definition: MathTypes.hpp:114
Definition: BulletCollisionDetector.cpp:65
Definition: FixedJacobianNode.hpp:135
math::Jacobian mBodyJacobian
Cached Jacobian of this Fixed Frame.
Definition: FixedJacobianNode.hpp:139
math::Jacobian mWorldJacobianClassicDeriv
Classic time derivative of the Fixed Frame Jacobian.
Definition: FixedJacobianNode.hpp:156
math::Jacobian mBodyJacobianSpatialDeriv
Spatial time derivative of Fixed Frame Jacobian.
Definition: FixedJacobianNode.hpp:150
math::Jacobian mWorldJacobian
Cached World Jacobian of this Fixed Frame.
Definition: FixedJacobianNode.hpp:144