DART  6.10.1
dart::dynamics::BallJoint Class Referenceabstract

class BallJoint More...

#include <BallJoint.hpp>

Inheritance diagram for dart::dynamics::BallJoint:
dart::dynamics::GenericJoint< math::SO3Space > dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases > dart::common::CompositeJoiner< EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >, CompositeBases... >

Classes

struct  Properties
 

Public Types

using Base = GenericJoint< math::SO3Space >
 
using ThisClass = GenericJoint< math::SO3Space >
 
using Point = typename ConfigSpaceT::Point
 
using EuclideanPoint = typename ConfigSpaceT::EuclideanPoint
 
using Vector = typename ConfigSpaceT::Vector
 
using JacobianMatrix = typename ConfigSpaceT::JacobianMatrix
 
using Matrix = typename ConfigSpaceT::Matrix
 
using UniqueProperties = detail::GenericJointUniqueProperties< math::SO3Space >
 
using Properties = detail::GenericJointProperties< math::SO3Space >
 
using AspectState = typename Base::AspectState
 
using AspectProperties = typename Base::AspectProperties
 
using Impl = EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >
 
using Derived = typename Impl::Derived
 
using AspectStateData = typename Impl::AspectStateData
 
using AspectPropertiesData = typename Impl::AspectPropertiesData
 
using Aspect = typename Impl::Aspect
 

Public Member Functions

virtual ~BallJoint ()
 Destructor. More...
 
const std::string & getType () const override
 
bool isCyclic (std::size_t _index) const override
 
Properties getBallJointProperties () const
 Get the Properties of this BallJoint. More...
 
Eigen::Matrix< double, 6, 3 > getRelativeJacobianStatic (const Eigen::Vector3d &_positions) const override
 
Eigen::Vector3d getPositionDifferencesStatic (const Eigen::Vector3d &_q2, const Eigen::Vector3d &_q1) const override
 
bool hasGenericJointAspect () const
 Check if this Composite currently has GenericJointAspect . More...
 
ThisClass::AspectgetGenericJointAspect ()
 Get a(an) GenericJointAspect from this Composite. More...
 
const ThisClass::AspectgetGenericJointAspect () const
 Get a(an) GenericJointAspect from this Composite. More...
 
ThisClass::AspectgetGenericJointAspect (const bool createIfNull)
 Get a(an) GenericJointAspect from this Composite. More...
 
void setGenericJointAspect (const typename ThisClass::Aspect *aspect)
 Make a clone of GenericJointAspect and place the clone into this Composite. More...
 
void setGenericJointAspect (std::unique_ptr< typename ThisClass::Aspect > &&aspect)
 Use move semantics to place GenericJointAspect into this Composite. More...
 
ThisClass::AspectcreateGenericJointAspect (Args &&... args)
 Construct a(an) GenericJointAspect inside of this Composite. More...
 
void removeGenericJointAspect ()
 Remove a(an) GenericJointAspect from this Composite. More...
 
std::unique_ptr< typename ThisClass::AspectreleaseGenericJointAspect ()
 Remove a(an) GenericJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted. More...
 
void setProperties (const Properties &properties)
 Set the Properties of this GenericJoint. More...
 
void setProperties (const UniqueProperties &properties)
 Set the Properties of this GenericJoint. More...
 
void setAspectState (const AspectState &state)
 Set the AspectState of this GenericJoint. More...
 
void setAspectProperties (const AspectProperties &properties)
 Set the AspectProperties of this GenericJoint. More...
 
Properties getGenericJointProperties () const
 Get the Properties of this GenericJoint. More...
 
void copy (const ThisClass &otherJoint)
 Copy the Properties of another GenericJoint. More...
 
void copy (const ThisClass *otherJoint)
 Copy the Properties of another GenericJoint. More...
 
Eigen::Vector6d getBodyConstraintWrench () const override
 
const AspectPropertiesgetAspectProperties () const
 
const AspectStategetAspectState () const
 
Interface for generalized coordinates
DegreeOfFreedomgetDof (std::size_t index) override
 
const DegreeOfFreedomgetDof (std::size_t _index) const override
 
std::size_t getNumDofs () const override
 
const std::string & setDofName (std::size_t index, const std::string &name, bool preserveName=true) override
 
void preserveDofName (size_t index, bool preserve) override
 
bool isDofNamePreserved (size_t index) const override
 
const std::string & getDofName (size_t index) const override
 
size_t getIndexInSkeleton (size_t index) const override
 
size_t getIndexInTree (size_t index) const override
 
Command
void setCommand (std::size_t index, double command) override
 
double getCommand (std::size_t index) const override
 
void setCommands (const Eigen::VectorXd &commands) override
 
Eigen::VectorXd getCommands () const override
 
void resetCommands () override
 
Position
void setPosition (std::size_t index, double position) override
 
double getPosition (std::size_t index) const override
 
void setPositions (const Eigen::VectorXd &positions) override
 
Eigen::VectorXd getPositions () const override
 
void setPositionLowerLimit (std::size_t index, double position) override
 
double getPositionLowerLimit (std::size_t index) const override
 
void setPositionLowerLimits (const Eigen::VectorXd &lowerLimits) override
 
Eigen::VectorXd getPositionLowerLimits () const override
 
void setPositionUpperLimit (std::size_t index, double position) override
 
double getPositionUpperLimit (std::size_t index) const override
 
void setPositionUpperLimits (const Eigen::VectorXd &upperLimits) override
 
Eigen::VectorXd getPositionUpperLimits () const override
 
bool hasPositionLimit (std::size_t index) const override
 
void resetPosition (std::size_t index) override
 
void resetPositions () override
 
void setInitialPosition (std::size_t index, double initial) override
 
double getInitialPosition (std::size_t index) const override
 
void setInitialPositions (const Eigen::VectorXd &initial) override
 
Eigen::VectorXd getInitialPositions () const override
 
Fixed-size mutators and accessors
void setPositionsStatic (const Vector &positions)
 Fixed-size version of setPositions() More...
 
const VectorgetPositionsStatic () const
 Fixed-size version of getPositions() More...
 
void setVelocitiesStatic (const Vector &velocities)
 Fixed-size version of setVelocities() More...
 
const VectorgetVelocitiesStatic () const
 Fixed-size version of getVelocities() More...
 
void setAccelerationsStatic (const Vector &accels)
 Fixed-size version of setAccelerations() More...
 
const VectorgetAccelerationsStatic () const
 Fixed-size version of getAccelerations() More...
 
Velocity
void setVelocity (std::size_t index, double velocity) override
 
double getVelocity (std::size_t index) const override
 
void setVelocities (const Eigen::VectorXd &velocities) override
 
Eigen::VectorXd getVelocities () const override
 
void setVelocityLowerLimit (std::size_t index, double velocity) override
 
double getVelocityLowerLimit (std::size_t index) const override
 
void setVelocityLowerLimits (const Eigen::VectorXd &lowerLimits) override
 
Eigen::VectorXd getVelocityLowerLimits () const override
 
void setVelocityUpperLimit (std::size_t index, double velocity) override
 
double getVelocityUpperLimit (std::size_t index) const override
 
void setVelocityUpperLimits (const Eigen::VectorXd &upperLimits) override
 
Eigen::VectorXd getVelocityUpperLimits () const override
 
void resetVelocity (std::size_t index) override
 
void resetVelocities () override
 
void setInitialVelocity (std::size_t index, double initial) override
 
double getInitialVelocity (std::size_t index) const override
 
void setInitialVelocities (const Eigen::VectorXd &initial) override
 
Eigen::VectorXd getInitialVelocities () const override
 
Acceleration
void setAcceleration (std::size_t index, double acceleration) override
 
double getAcceleration (std::size_t index) const override
 
void setAccelerations (const Eigen::VectorXd &accelerations) override
 
Eigen::VectorXd getAccelerations () const override
 
void setAccelerationLowerLimit (size_t index, double acceleration) override
 
double getAccelerationLowerLimit (std::size_t index) const override
 
void setAccelerationLowerLimits (const Eigen::VectorXd &lowerLimits) override
 
Eigen::VectorXd getAccelerationLowerLimits () const override
 
void setAccelerationUpperLimit (std::size_t index, double acceleration) override
 
double getAccelerationUpperLimit (std::size_t index) const override
 
void setAccelerationUpperLimits (const Eigen::VectorXd &upperLimits) override
 
Eigen::VectorXd getAccelerationUpperLimits () const override
 
void resetAccelerations () override
 
Force
void setForce (std::size_t index, double force) override
 
double getForce (std::size_t index) const override
 
void setForces (const Eigen::VectorXd &forces) override
 
Eigen::VectorXd getForces () const override
 
void setForceLowerLimit (size_t index, double force) override
 
double getForceLowerLimit (std::size_t index) const override
 
void setForceLowerLimits (const Eigen::VectorXd &lowerLimits) override
 
Eigen::VectorXd getForceLowerLimits () const override
 
void setForceUpperLimit (size_t index, double force) override
 
double getForceUpperLimit (size_t index) const override
 
void setForceUpperLimits (const Eigen::VectorXd &upperLimits) override
 
Eigen::VectorXd getForceUpperLimits () const override
 
void resetForces () override
 
Velocity change
void setVelocityChange (std::size_t index, double velocityChange) override
 
double getVelocityChange (std::size_t index) const override
 
void resetVelocityChanges () override
 
Constraint impulse
void setConstraintImpulse (std::size_t index, double impulse) override
 
double getConstraintImpulse (std::size_t index) const override
 
void resetConstraintImpulses () override
 
Integration and finite difference
void integrateVelocities (double dt) override
 
Eigen::VectorXd getPositionDifferences (const Eigen::VectorXd &q2, const Eigen::VectorXd &q1) const override
 
virtual Vector getPositionDifferencesStatic (const Vector &q2, const Vector &q1) const
 Fixed-size version of getPositionDifferences() More...
 
Passive forces - spring, viscous friction, Coulomb friction
void setSpringStiffness (std::size_t index, double k) override
 
double getSpringStiffness (std::size_t index) const override
 
void setRestPosition (std::size_t index, double q0) override
 
double getRestPosition (std::size_t index) const override
 
void setDampingCoefficient (std::size_t index, double coeff) override
 
double getDampingCoefficient (std::size_t index) const override
 
void setCoulombFriction (std::size_t index, double friction) override
 
double getCoulombFriction (std::size_t index) const override
 
Energy
double computePotentialEnergy () const override
 
Jacobians
const math::Jacobian getRelativeJacobian () const override
 
math::Jacobian getRelativeJacobian (const Eigen::VectorXd &_positions) const override
 
const GenericJoint< math::SO3Space >::JacobianMatrixgetRelativeJacobianStatic () const
 Fixed-size version of getRelativeJacobian() More...
 
virtual JacobianMatrix getRelativeJacobianStatic (const Vector &positions) const=0
 Fixed-size version of getRelativeJacobian(positions) More...
 
const math::Jacobian getRelativeJacobianTimeDeriv () const override
 
const JacobianMatrixgetRelativeJacobianTimeDerivStatic () const
 Fixed-size version of getRelativeJacobianTimeDeriv() More...
 

Static Public Member Functions

static const std::string & getStaticType ()
 Get joint type for this class. More...
 
template<typename RotationType >
static Eigen::Vector3d convertToPositions (const RotationType &_rotation)
 Convert a rotation into a 3D vector that can be used to set the positions of a BallJoint. More...
 
static Eigen::Isometry3d convertToTransform (const Eigen::Vector3d &_positions)
 Convert a BallJoint-style position vector into a transform. More...
 
static Eigen::Matrix3d convertToRotation (const Eigen::Vector3d &_positions)
 Convert a BallJoint-style position vector into a rotation matrix. More...
 

Static Public Attributes

static constexpr std::size_t NumDofs
 

Protected Member Functions

 BallJoint (const Properties &properties)
 Constructor called by Skeleton class. More...
 
Jointclone () const override
 
void integratePositions (double _dt) override
 
void updateDegreeOfFreedomNames () override
 
void updateRelativeTransform () const override
 
void updateRelativeJacobian (bool _mandatory=true) const override
 
void updateRelativeJacobianTimeDeriv () const override
 
const Eigen::Isometry3d & getR () const
 Access mR, which is an auto-updating variable. More...
 
void registerDofs () override
 
Recursive algorithm routines for equations of motion
void addChildBiasForceForInvMassMatrix (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce) override
 
void addChildBiasForceForInvAugMassMatrix (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce) override
 
void updateTotalForceForInvMassMatrix (const Eigen::Vector6d &bodyForce) override
 
void getInvMassMatrixSegment (Eigen::MatrixXd &invMassMat, const size_t col, const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc) override
 
void getInvAugMassMatrixSegment (Eigen::MatrixXd &invMassMat, const size_t col, const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc) override
 
void addInvMassMatrixSegmentTo (Eigen::Vector6d &acc) override
 
Eigen::VectorXd getSpatialToGeneralized (const Eigen::Vector6d &spatial) override
 

Protected Attributes

Eigen::Isometry3d mR
 Rotation matrix dependent on the generalized coordinates. More...
 
std::array< DegreeOfFreedom *, NumDofsmDofs
 Array of DegreeOfFreedom objects. More...
 
Vector mVelocityChanges
 Change of generalized velocity. More...
 
Vector mImpulses
 Generalized impulse. More...
 
Vector mConstraintImpulses
 Generalized constraint impulse. More...
 
JacobianMatrix mJacobian
 Spatial Jacobian expressed in the child body frame. More...
 
JacobianMatrix mJacobianDeriv
 Time derivative of spatial Jacobian expressed in the child body frame. More...
 
Matrix mInvProjArtInertia
 Inverse of projected articulated inertia. More...
 
Matrix mInvProjArtInertiaImplicit
 Inverse of projected articulated inertia for implicit joint damping and spring forces. More...
 
Vector mTotalForce
 Total force projected on joint space. More...
 
Vector mTotalImpulse
 Total impluse projected on joint space. More...
 
Vector mInvM_a
 
Vector mInvMassMatrixSegment
 
AspectProperties mAspectProperties
 Aspect::Properties data, directly accessible to your derived class. More...
 
AspectState mAspectState
 Aspect::State data, directly accessible to your derived class. More...
 

Friends

class Skeleton
 

Recursive dynamics routines

const MatrixgetInvProjArtInertia () const
 Get the inverse of the projected articulated inertia. More...
 
const MatrixgetInvProjArtInertiaImplicit () const
 Get the inverse of projected articulated inertia for implicit joint damping and spring forces. More...
 
void updateRelativeSpatialVelocity () const override
 
void updateRelativeSpatialAcceleration () const override
 
void updateRelativePrimaryAcceleration () const override
 
void addVelocityTo (Eigen::Vector6d &vel) override
 
void setPartialAccelerationTo (Eigen::Vector6d &partialAcceleration, const Eigen::Vector6d &childVelocity) override
 
void addAccelerationTo (Eigen::Vector6d &acc) override
 
void addVelocityChangeTo (Eigen::Vector6d &velocityChange) override
 
void addChildArtInertiaTo (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia) override
 
void addChildArtInertiaImplicitTo (Eigen::Matrix6d &parentArtInertiaImplicit, const Eigen::Matrix6d &childArtInertiaImplicit) override
 
void updateInvProjArtInertia (const Eigen::Matrix6d &artInertia) override
 
void updateInvProjArtInertiaImplicit (const Eigen::Matrix6d &artInertia, double timeStep) override
 
void addChildBiasForceTo (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce, const Eigen::Vector6d &childPartialAcc) override
 
void addChildBiasImpulseTo (Eigen::Vector6d &parentBiasImpulse, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasImpulse) override
 
void updateTotalForce (const Eigen::Vector6d &bodyForce, double timeStep) override
 
void updateTotalImpulse (const Eigen::Vector6d &bodyImpulse) override
 
void resetTotalImpulses () override
 
void updateAcceleration (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc) override
 
void updateVelocityChange (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &velocityChange) override
 
void updateForceID (const Eigen::Vector6d &bodyForce, double timeStep, bool withDampingForces, bool withSpringForces) override
 
void updateForceFD (const Eigen::Vector6d &bodyForce, double timeStep, bool withDampingForcese, bool withSpringForces) override
 
void updateImpulseID (const Eigen::Vector6d &bodyImpulse) override
 
void updateImpulseFD (const Eigen::Vector6d &bodyImpulse) override
 
void updateConstrainedTerms (double timeStep) override
 
void addChildArtInertiaToDynamic (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia)
 
void addChildArtInertiaToKinematic (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia)
 
void addChildArtInertiaImplicitToDynamic (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia)
 
void addChildArtInertiaImplicitToKinematic (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia)
 
void updateInvProjArtInertiaDynamic (const Eigen::Matrix6d &artInertia)
 
void updateInvProjArtInertiaKinematic (const Eigen::Matrix6d &artInertia)
 
void updateInvProjArtInertiaImplicitDynamic (const Eigen::Matrix6d &artInertia, double timeStep)
 
void updateInvProjArtInertiaImplicitKinematic (const Eigen::Matrix6d &artInertia, double timeStep)
 
void addChildBiasForceToDynamic (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce, const Eigen::Vector6d &childPartialAcc)
 
void addChildBiasForceToKinematic (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce, const Eigen::Vector6d &childPartialAcc)
 
void addChildBiasImpulseToDynamic (Eigen::Vector6d &parentBiasImpulse, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasImpulse)
 
void addChildBiasImpulseToKinematic (Eigen::Vector6d &parentBiasImpulse, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasImpulse)
 
void updateTotalForceDynamic (const Eigen::Vector6d &bodyForce, double timeStep)
 
void updateTotalForceKinematic (const Eigen::Vector6d &bodyForce, double timeStep)
 
void updateTotalImpulseDynamic (const Eigen::Vector6d &bodyImpulse)
 
void updateTotalImpulseKinematic (const Eigen::Vector6d &bodyImpulse)
 
void updateAccelerationDynamic (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc)
 
void updateAccelerationKinematic (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc)
 
void updateVelocityChangeDynamic (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &velocityChange)
 
void updateVelocityChangeKinematic (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &velocityChange)
 
void updateConstrainedTermsDynamic (double timeStep)
 
void updateConstrainedTermsKinematic (double timeStep)
 

Detailed Description

class BallJoint

Member Typedef Documentation

◆ 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::GenericJoint< math::SO3Space >::AspectProperties = typename Base::AspectProperties
inherited

◆ AspectPropertiesData

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

◆ AspectState

using dart::dynamics::GenericJoint< math::SO3Space >::AspectState = typename Base::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

◆ Derived

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

◆ EuclideanPoint

using dart::dynamics::GenericJoint< math::SO3Space >::EuclideanPoint = typename ConfigSpaceT::EuclideanPoint
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

◆ JacobianMatrix

using dart::dynamics::GenericJoint< math::SO3Space >::JacobianMatrix = typename ConfigSpaceT::JacobianMatrix
inherited

◆ Matrix

using dart::dynamics::GenericJoint< math::SO3Space >::Matrix = typename ConfigSpaceT::Matrix
inherited

◆ Point

using dart::dynamics::GenericJoint< math::SO3Space >::Point = typename ConfigSpaceT::Point
inherited

◆ Properties

◆ ThisClass

◆ UniqueProperties

◆ Vector

using dart::dynamics::GenericJoint< math::SO3Space >::Vector = typename ConfigSpaceT::Vector
inherited

Constructor & Destructor Documentation

◆ ~BallJoint()

dart::dynamics::BallJoint::~BallJoint ( )
virtual

Destructor.

◆ BallJoint()

dart::dynamics::BallJoint::BallJoint ( const Properties properties)
protected

Constructor called by Skeleton class.

Member Function Documentation

◆ addAccelerationTo()

void dart::dynamics::GenericJoint< math::SO3Space >::addAccelerationTo ( Eigen::Vector6d acc)
overrideprotectedinherited

◆ addChildArtInertiaImplicitTo()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildArtInertiaImplicitTo ( Eigen::Matrix6d parentArtInertiaImplicit,
const Eigen::Matrix6d childArtInertiaImplicit 
)
overrideprotectedinherited

◆ addChildArtInertiaImplicitToDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildArtInertiaImplicitToDynamic ( Eigen::Matrix6d parentArtInertia,
const Eigen::Matrix6d childArtInertia 
)
privateinherited

◆ addChildArtInertiaImplicitToKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildArtInertiaImplicitToKinematic ( Eigen::Matrix6d parentArtInertia,
const Eigen::Matrix6d childArtInertia 
)
privateinherited

◆ addChildArtInertiaTo()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildArtInertiaTo ( Eigen::Matrix6d parentArtInertia,
const Eigen::Matrix6d childArtInertia 
)
overrideprotectedinherited

◆ addChildArtInertiaToDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildArtInertiaToDynamic ( Eigen::Matrix6d parentArtInertia,
const Eigen::Matrix6d childArtInertia 
)
privateinherited

◆ addChildArtInertiaToKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildArtInertiaToKinematic ( Eigen::Matrix6d parentArtInertia,
const Eigen::Matrix6d childArtInertia 
)
privateinherited

◆ addChildBiasForceForInvAugMassMatrix()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildBiasForceForInvAugMassMatrix ( Eigen::Vector6d parentBiasForce,
const Eigen::Matrix6d childArtInertia,
const Eigen::Vector6d childBiasForce 
)
overrideprotectedinherited

◆ addChildBiasForceForInvMassMatrix()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildBiasForceForInvMassMatrix ( Eigen::Vector6d parentBiasForce,
const Eigen::Matrix6d childArtInertia,
const Eigen::Vector6d childBiasForce 
)
overrideprotectedinherited

◆ addChildBiasForceTo()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildBiasForceTo ( Eigen::Vector6d parentBiasForce,
const Eigen::Matrix6d childArtInertia,
const Eigen::Vector6d childBiasForce,
const Eigen::Vector6d childPartialAcc 
)
overrideprotectedinherited

◆ addChildBiasForceToDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildBiasForceToDynamic ( Eigen::Vector6d parentBiasForce,
const Eigen::Matrix6d childArtInertia,
const Eigen::Vector6d childBiasForce,
const Eigen::Vector6d childPartialAcc 
)
privateinherited

◆ addChildBiasForceToKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildBiasForceToKinematic ( Eigen::Vector6d parentBiasForce,
const Eigen::Matrix6d childArtInertia,
const Eigen::Vector6d childBiasForce,
const Eigen::Vector6d childPartialAcc 
)
privateinherited

◆ addChildBiasImpulseTo()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildBiasImpulseTo ( Eigen::Vector6d parentBiasImpulse,
const Eigen::Matrix6d childArtInertia,
const Eigen::Vector6d childBiasImpulse 
)
overrideprotectedinherited

◆ addChildBiasImpulseToDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildBiasImpulseToDynamic ( Eigen::Vector6d parentBiasImpulse,
const Eigen::Matrix6d childArtInertia,
const Eigen::Vector6d childBiasImpulse 
)
privateinherited

◆ addChildBiasImpulseToKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::addChildBiasImpulseToKinematic ( Eigen::Vector6d parentBiasImpulse,
const Eigen::Matrix6d childArtInertia,
const Eigen::Vector6d childBiasImpulse 
)
privateinherited

◆ addInvMassMatrixSegmentTo()

void dart::dynamics::GenericJoint< math::SO3Space >::addInvMassMatrixSegmentTo ( Eigen::Vector6d acc)
overrideprotectedinherited

◆ addVelocityChangeTo()

void dart::dynamics::GenericJoint< math::SO3Space >::addVelocityChangeTo ( Eigen::Vector6d velocityChange)
overrideprotectedinherited

◆ addVelocityTo()

void dart::dynamics::GenericJoint< math::SO3Space >::addVelocityTo ( Eigen::Vector6d vel)
overrideprotectedinherited

◆ clone()

Joint * dart::dynamics::BallJoint::clone ( ) const
overrideprotected

◆ computePotentialEnergy()

double dart::dynamics::GenericJoint< math::SO3Space >::computePotentialEnergy
overrideinherited

◆ convertToPositions()

template<typename RotationType >
static Eigen::Vector3d dart::dynamics::BallJoint::convertToPositions ( const RotationType &  _rotation)
inlinestatic

Convert a rotation into a 3D vector that can be used to set the positions of a BallJoint.

The positions returned by this function will result in a relative transform of getTransformFromParentBodyNode() * _rotation * getTransformFromChildBodyNode().inverse() between the parent BodyNode and the child BodyNode frames when applied to a BallJoint.

◆ convertToRotation()

Eigen::Matrix3d dart::dynamics::BallJoint::convertToRotation ( const Eigen::Vector3d &  _positions)
static

Convert a BallJoint-style position vector into a rotation matrix.

◆ convertToTransform()

Eigen::Isometry3d dart::dynamics::BallJoint::convertToTransform ( const Eigen::Vector3d &  _positions)
static

Convert a BallJoint-style position vector into a transform.

◆ copy() [1/2]

void dart::dynamics::GenericJoint< math::SO3Space >::copy ( const ThisClass otherJoint)
inherited

Copy the Properties of another GenericJoint.

◆ copy() [2/2]

void dart::dynamics::GenericJoint< math::SO3Space >::copy ( const ThisClass otherJoint)
inherited

Copy the Properties of another GenericJoint.

◆ createGenericJointAspect()

ThisClass::Aspect* dart::dynamics::GenericJoint< math::SO3Space >::createGenericJointAspect ( Args &&...  args)
inlineinherited

Construct a(an) GenericJointAspect inside of this Composite.

◆ getAcceleration()

double dart::dynamics::GenericJoint< math::SO3Space >::getAcceleration ( std::size_t  index) const
overrideinherited

◆ getAccelerationLowerLimit()

double dart::dynamics::GenericJoint< math::SO3Space >::getAccelerationLowerLimit ( std::size_t  index) const
overrideinherited

◆ getAccelerationLowerLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getAccelerationLowerLimits
overrideinherited

◆ getAccelerations()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getAccelerations
overrideinherited

◆ getAccelerationsStatic()

const GenericJoint< math::SO3Space >::Vector & dart::dynamics::GenericJoint< math::SO3Space >::getAccelerationsStatic
inherited

Fixed-size version of getAccelerations()

◆ getAccelerationUpperLimit()

double dart::dynamics::GenericJoint< math::SO3Space >::getAccelerationUpperLimit ( std::size_t  index) const
overrideinherited

◆ getAccelerationUpperLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getAccelerationUpperLimits
overrideinherited

◆ 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

◆ getBallJointProperties()

BallJoint::Properties dart::dynamics::BallJoint::getBallJointProperties ( ) const

Get the Properties of this BallJoint.

◆ getBodyConstraintWrench()

Eigen::Vector6d dart::dynamics::GenericJoint< math::SO3Space >::getBodyConstraintWrench
overrideinherited

◆ getCommand()

double dart::dynamics::GenericJoint< math::SO3Space >::getCommand ( std::size_t  index) const
overrideinherited

◆ getCommands()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getCommands
overrideinherited

◆ getConstraintImpulse()

double dart::dynamics::GenericJoint< math::SO3Space >::getConstraintImpulse ( std::size_t  index) const
overrideinherited

◆ getCoulombFriction()

double dart::dynamics::GenericJoint< math::SO3Space >::getCoulombFriction ( std::size_t  index) const
overrideinherited

◆ getDampingCoefficient()

double dart::dynamics::GenericJoint< math::SO3Space >::getDampingCoefficient ( std::size_t  index) const
overrideinherited

◆ getDof() [1/2]

const DegreeOfFreedom* dart::dynamics::GenericJoint< math::SO3Space >::getDof ( std::size_t  _index) const
overrideinherited

◆ getDof() [2/2]

DegreeOfFreedom* dart::dynamics::GenericJoint< math::SO3Space >::getDof ( std::size_t  index)
overrideinherited

◆ getDofName()

const std::string & dart::dynamics::GenericJoint< math::SO3Space >::getDofName ( size_t  index) const
overrideinherited

◆ getForce()

double dart::dynamics::GenericJoint< math::SO3Space >::getForce ( std::size_t  index) const
overrideinherited

◆ getForceLowerLimit()

double dart::dynamics::GenericJoint< math::SO3Space >::getForceLowerLimit ( std::size_t  index) const
overrideinherited

◆ getForceLowerLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getForceLowerLimits
overrideinherited

◆ getForces()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getForces
overrideinherited

◆ getForceUpperLimit()

double dart::dynamics::GenericJoint< math::SO3Space >::getForceUpperLimit ( size_t  index) const
overrideinherited

◆ getForceUpperLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getForceUpperLimits
overrideinherited

◆ getGenericJointAspect() [1/3]

ThisClass::Aspect* dart::dynamics::GenericJoint< math::SO3Space >::getGenericJointAspect ( )
inlineinherited

Get a(an) GenericJointAspect from this Composite.

◆ getGenericJointAspect() [2/3]

const ThisClass::Aspect* dart::dynamics::GenericJoint< math::SO3Space >::getGenericJointAspect ( ) const
inlineinherited

Get a(an) GenericJointAspect from this Composite.

◆ getGenericJointAspect() [3/3]

ThisClass::Aspect* dart::dynamics::GenericJoint< math::SO3Space >::getGenericJointAspect ( const bool  createIfNull)
inlineinherited

Get a(an) GenericJointAspect from this Composite.

If _createIfNull is true, then a(an) GenericJointAspect will be generated if one does not already exist.

◆ getGenericJointProperties()

Get the Properties of this GenericJoint.

◆ getIndexInSkeleton()

size_t dart::dynamics::GenericJoint< math::SO3Space >::getIndexInSkeleton ( size_t  index) const
overrideinherited

◆ getIndexInTree()

size_t dart::dynamics::GenericJoint< math::SO3Space >::getIndexInTree ( size_t  index) const
overrideinherited

◆ getInitialPosition()

double dart::dynamics::GenericJoint< math::SO3Space >::getInitialPosition ( std::size_t  index) const
overrideinherited

◆ getInitialPositions()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getInitialPositions
overrideinherited

◆ getInitialVelocities()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getInitialVelocities
overrideinherited

◆ getInitialVelocity()

double dart::dynamics::GenericJoint< math::SO3Space >::getInitialVelocity ( std::size_t  index) const
overrideinherited

◆ getInvAugMassMatrixSegment()

void dart::dynamics::GenericJoint< math::SO3Space >::getInvAugMassMatrixSegment ( Eigen::MatrixXd &  invMassMat,
const size_t  col,
const Eigen::Matrix6d artInertia,
const Eigen::Vector6d spatialAcc 
)
overrideprotectedinherited

◆ getInvMassMatrixSegment()

void dart::dynamics::GenericJoint< math::SO3Space >::getInvMassMatrixSegment ( Eigen::MatrixXd &  invMassMat,
const size_t  col,
const Eigen::Matrix6d artInertia,
const Eigen::Vector6d spatialAcc 
)
overrideprotectedinherited

◆ getInvProjArtInertia()

const GenericJoint< math::SO3Space >::Matrix & dart::dynamics::GenericJoint< math::SO3Space >::getInvProjArtInertia
protectedinherited

Get the inverse of the projected articulated inertia.

◆ getInvProjArtInertiaImplicit()

const GenericJoint< math::SO3Space >::Matrix & dart::dynamics::GenericJoint< math::SO3Space >::getInvProjArtInertiaImplicit
protectedinherited

Get the inverse of projected articulated inertia for implicit joint damping and spring forces.

◆ getNumDofs()

size_t dart::dynamics::GenericJoint< math::SO3Space >::getNumDofs
overrideinherited

◆ getPosition()

double dart::dynamics::GenericJoint< math::SO3Space >::getPosition ( std::size_t  index) const
overrideinherited

◆ getPositionDifferences()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getPositionDifferences ( const Eigen::VectorXd &  q2,
const Eigen::VectorXd &  q1 
) const
overrideinherited

◆ getPositionDifferencesStatic() [1/2]

Eigen::Vector3d dart::dynamics::BallJoint::getPositionDifferencesStatic ( const Eigen::Vector3d &  _q2,
const Eigen::Vector3d &  _q1 
) const
override

◆ getPositionDifferencesStatic() [2/2]

ConfigSpaceT::Vector dart::dynamics::GenericJoint< math::SO3Space >::getPositionDifferencesStatic ( const Vector q2,
const Vector q1 
) const
virtualinherited

Fixed-size version of getPositionDifferences()

◆ getPositionLowerLimit()

double dart::dynamics::GenericJoint< math::SO3Space >::getPositionLowerLimit ( std::size_t  index) const
overrideinherited

◆ getPositionLowerLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getPositionLowerLimits
overrideinherited

◆ getPositions()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getPositions
overrideinherited

◆ getPositionsStatic()

const GenericJoint< math::SO3Space >::Vector & dart::dynamics::GenericJoint< math::SO3Space >::getPositionsStatic
inherited

Fixed-size version of getPositions()

◆ getPositionUpperLimit()

double dart::dynamics::GenericJoint< math::SO3Space >::getPositionUpperLimit ( std::size_t  index) const
overrideinherited

◆ getPositionUpperLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getPositionUpperLimits
overrideinherited

◆ getR()

const Eigen::Isometry3d & dart::dynamics::BallJoint::getR ( ) const
protected

Access mR, which is an auto-updating variable.

◆ getRelativeJacobian() [1/2]

const math::Jacobian dart::dynamics::GenericJoint< math::SO3Space >::getRelativeJacobian
overrideinherited

◆ getRelativeJacobian() [2/2]

math::Jacobian dart::dynamics::GenericJoint< math::SO3Space >::getRelativeJacobian ( const Eigen::VectorXd &  _positions) const
overrideinherited

◆ getRelativeJacobianStatic() [1/3]

const GenericJoint< math::SO3Space >::JacobianMatrix & dart::dynamics::GenericJoint< math::SO3Space >::getRelativeJacobianStatic
inherited

Fixed-size version of getRelativeJacobian()

◆ getRelativeJacobianStatic() [2/3]

Eigen::Matrix< double, 6, 3 > dart::dynamics::BallJoint::getRelativeJacobianStatic ( const Eigen::Vector3d &  _positions) const
override

◆ getRelativeJacobianStatic() [3/3]

virtual JacobianMatrix dart::dynamics::GenericJoint< math::SO3Space >::getRelativeJacobianStatic ( const Vector positions) const
pure virtualinherited

Fixed-size version of getRelativeJacobian(positions)

◆ getRelativeJacobianTimeDeriv()

const math::Jacobian dart::dynamics::GenericJoint< math::SO3Space >::getRelativeJacobianTimeDeriv
overrideinherited

◆ getRelativeJacobianTimeDerivStatic()

const GenericJoint< math::SO3Space >::JacobianMatrix & dart::dynamics::GenericJoint< math::SO3Space >::getRelativeJacobianTimeDerivStatic
inherited

Fixed-size version of getRelativeJacobianTimeDeriv()

◆ getRestPosition()

double dart::dynamics::GenericJoint< math::SO3Space >::getRestPosition ( std::size_t  index) const
overrideinherited

◆ getSpatialToGeneralized()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getSpatialToGeneralized ( const Eigen::Vector6d spatial)
overrideprotectedinherited

◆ getSpringStiffness()

double dart::dynamics::GenericJoint< math::SO3Space >::getSpringStiffness ( std::size_t  index) const
overrideinherited

◆ getStaticType()

const std::string & dart::dynamics::BallJoint::getStaticType ( )
static

Get joint type for this class.

◆ getType()

const std::string & dart::dynamics::BallJoint::getType ( ) const
override

◆ getVelocities()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getVelocities
overrideinherited

◆ getVelocitiesStatic()

const GenericJoint< math::SO3Space >::Vector & dart::dynamics::GenericJoint< math::SO3Space >::getVelocitiesStatic
inherited

Fixed-size version of getVelocities()

◆ getVelocity()

double dart::dynamics::GenericJoint< math::SO3Space >::getVelocity ( std::size_t  index) const
overrideinherited

◆ getVelocityChange()

double dart::dynamics::GenericJoint< math::SO3Space >::getVelocityChange ( std::size_t  index) const
overrideinherited

◆ getVelocityLowerLimit()

double dart::dynamics::GenericJoint< math::SO3Space >::getVelocityLowerLimit ( std::size_t  index) const
overrideinherited

◆ getVelocityLowerLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getVelocityLowerLimits
overrideinherited

◆ getVelocityUpperLimit()

double dart::dynamics::GenericJoint< math::SO3Space >::getVelocityUpperLimit ( std::size_t  index) const
overrideinherited

◆ getVelocityUpperLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getVelocityUpperLimits
overrideinherited

◆ hasGenericJointAspect()

bool dart::dynamics::GenericJoint< math::SO3Space >::hasGenericJointAspect ( ) const
inlineinherited

Check if this Composite currently has GenericJointAspect .

◆ hasPositionLimit()

bool dart::dynamics::GenericJoint< math::SO3Space >::hasPositionLimit ( std::size_t  index) const
overrideinherited

◆ integratePositions()

void dart::dynamics::BallJoint::integratePositions ( double  _dt)
overrideprotected

◆ integrateVelocities()

void dart::dynamics::GenericJoint< math::SO3Space >::integrateVelocities ( double  dt)
overrideinherited

◆ isCyclic()

bool dart::dynamics::BallJoint::isCyclic ( std::size_t  _index) const
override

◆ isDofNamePreserved()

bool dart::dynamics::GenericJoint< math::SO3Space >::isDofNamePreserved ( size_t  index) const
overrideinherited

◆ preserveDofName()

void dart::dynamics::GenericJoint< math::SO3Space >::preserveDofName ( size_t  index,
bool  preserve 
)
overrideinherited

◆ registerDofs()

void dart::dynamics::GenericJoint< math::SO3Space >::registerDofs
overrideprotectedinherited

◆ releaseGenericJointAspect()

std::unique_ptr< typename ThisClass::Aspect > dart::dynamics::GenericJoint< math::SO3Space >::releaseGenericJointAspect ( )
inlineinherited

Remove a(an) GenericJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted.

This allows you to safely use move semantics to transfer a(an) GenericJointAspect between two Composites.

◆ removeGenericJointAspect()

void dart::dynamics::GenericJoint< math::SO3Space >::removeGenericJointAspect ( )
inlineinherited

Remove a(an) GenericJointAspect from this Composite.

◆ resetAccelerations()

void dart::dynamics::GenericJoint< math::SO3Space >::resetAccelerations
overrideinherited

◆ resetCommands()

void dart::dynamics::GenericJoint< math::SO3Space >::resetCommands
overrideinherited

◆ resetConstraintImpulses()

void dart::dynamics::GenericJoint< math::SO3Space >::resetConstraintImpulses
overrideinherited

◆ resetForces()

void dart::dynamics::GenericJoint< math::SO3Space >::resetForces
overrideinherited

◆ resetPosition()

void dart::dynamics::GenericJoint< math::SO3Space >::resetPosition ( std::size_t  index)
overrideinherited

◆ resetPositions()

void dart::dynamics::GenericJoint< math::SO3Space >::resetPositions
overrideinherited

◆ resetTotalImpulses()

void dart::dynamics::GenericJoint< math::SO3Space >::resetTotalImpulses
overrideprotectedinherited

◆ resetVelocities()

void dart::dynamics::GenericJoint< math::SO3Space >::resetVelocities
overrideinherited

◆ resetVelocity()

void dart::dynamics::GenericJoint< math::SO3Space >::resetVelocity ( std::size_t  index)
overrideinherited

◆ resetVelocityChanges()

void dart::dynamics::GenericJoint< math::SO3Space >::resetVelocityChanges
overrideinherited

◆ setAcceleration()

void dart::dynamics::GenericJoint< math::SO3Space >::setAcceleration ( std::size_t  index,
double  acceleration 
)
overrideinherited

◆ setAccelerationLowerLimit()

void dart::dynamics::GenericJoint< math::SO3Space >::setAccelerationLowerLimit ( size_t  index,
double  acceleration 
)
overrideinherited

◆ setAccelerationLowerLimits()

void dart::dynamics::GenericJoint< math::SO3Space >::setAccelerationLowerLimits ( const Eigen::VectorXd &  lowerLimits)
overrideinherited

◆ setAccelerations()

void dart::dynamics::GenericJoint< math::SO3Space >::setAccelerations ( const Eigen::VectorXd &  accelerations)
overrideinherited

◆ setAccelerationsStatic()

void dart::dynamics::GenericJoint< math::SO3Space >::setAccelerationsStatic ( const Vector accels)
inherited

Fixed-size version of setAccelerations()

◆ setAccelerationUpperLimit()

void dart::dynamics::GenericJoint< math::SO3Space >::setAccelerationUpperLimit ( std::size_t  index,
double  acceleration 
)
overrideinherited

◆ setAccelerationUpperLimits()

void dart::dynamics::GenericJoint< math::SO3Space >::setAccelerationUpperLimits ( const Eigen::VectorXd &  upperLimits)
overrideinherited

◆ setAspectProperties()

void dart::dynamics::GenericJoint< math::SO3Space >::setAspectProperties ( const AspectProperties properties)
inherited

Set the AspectProperties of this GenericJoint.

◆ setAspectState()

void dart::dynamics::GenericJoint< math::SO3Space >::setAspectState ( const AspectState state)
inherited

Set the AspectState of this GenericJoint.

◆ setCommand()

void dart::dynamics::GenericJoint< math::SO3Space >::setCommand ( std::size_t  index,
double  command 
)
overrideinherited

◆ setCommands()

void dart::dynamics::GenericJoint< math::SO3Space >::setCommands ( const Eigen::VectorXd &  commands)
overrideinherited

◆ setConstraintImpulse()

void dart::dynamics::GenericJoint< math::SO3Space >::setConstraintImpulse ( std::size_t  index,
double  impulse 
)
overrideinherited

◆ setCoulombFriction()

void dart::dynamics::GenericJoint< math::SO3Space >::setCoulombFriction ( std::size_t  index,
double  friction 
)
overrideinherited

◆ setDampingCoefficient()

void dart::dynamics::GenericJoint< math::SO3Space >::setDampingCoefficient ( std::size_t  index,
double  coeff 
)
overrideinherited

◆ setDofName()

const std::string & dart::dynamics::GenericJoint< math::SO3Space >::setDofName ( std::size_t  index,
const std::string &  name,
bool  preserveName = true 
)
overrideinherited

◆ setForce()

void dart::dynamics::GenericJoint< math::SO3Space >::setForce ( std::size_t  index,
double  force 
)
overrideinherited

◆ setForceLowerLimit()

void dart::dynamics::GenericJoint< math::SO3Space >::setForceLowerLimit ( size_t  index,
double  force 
)
overrideinherited

◆ setForceLowerLimits()

void dart::dynamics::GenericJoint< math::SO3Space >::setForceLowerLimits ( const Eigen::VectorXd &  lowerLimits)
overrideinherited

◆ setForces()

void dart::dynamics::GenericJoint< math::SO3Space >::setForces ( const Eigen::VectorXd &  forces)
overrideinherited

◆ setForceUpperLimit()

void dart::dynamics::GenericJoint< math::SO3Space >::setForceUpperLimit ( size_t  index,
double  force 
)
overrideinherited

◆ setForceUpperLimits()

void dart::dynamics::GenericJoint< math::SO3Space >::setForceUpperLimits ( const Eigen::VectorXd &  upperLimits)
overrideinherited

◆ setGenericJointAspect() [1/2]

void dart::dynamics::GenericJoint< math::SO3Space >::setGenericJointAspect ( const typename ThisClass::Aspect aspect)
inlineinherited

Make a clone of GenericJointAspect and place the clone into this Composite.

If a(an) GenericJointAspect already exists in this Composite, the existing GenericJointAspect will be destroyed.

◆ setGenericJointAspect() [2/2]

void dart::dynamics::GenericJoint< math::SO3Space >::setGenericJointAspect ( std::unique_ptr< typename ThisClass::Aspect > &&  aspect)
inlineinherited

Use move semantics to place GenericJointAspect into this Composite.

If a(an) GenericJointAspect already exists in this Composite, the existing GenericJointAspect will be destroyed.

◆ setInitialPosition()

void dart::dynamics::GenericJoint< math::SO3Space >::setInitialPosition ( std::size_t  index,
double  initial 
)
overrideinherited

◆ setInitialPositions()

void dart::dynamics::GenericJoint< math::SO3Space >::setInitialPositions ( const Eigen::VectorXd &  initial)
overrideinherited

◆ setInitialVelocities()

void dart::dynamics::GenericJoint< math::SO3Space >::setInitialVelocities ( const Eigen::VectorXd &  initial)
overrideinherited

◆ setInitialVelocity()

void dart::dynamics::GenericJoint< math::SO3Space >::setInitialVelocity ( std::size_t  index,
double  initial 
)
overrideinherited

◆ setPartialAccelerationTo()

void dart::dynamics::GenericJoint< math::SO3Space >::setPartialAccelerationTo ( Eigen::Vector6d partialAcceleration,
const Eigen::Vector6d childVelocity 
)
overrideprotectedinherited

◆ setPosition()

void dart::dynamics::GenericJoint< math::SO3Space >::setPosition ( std::size_t  index,
double  position 
)
overrideinherited

◆ setPositionLowerLimit()

void dart::dynamics::GenericJoint< math::SO3Space >::setPositionLowerLimit ( std::size_t  index,
double  position 
)
overrideinherited

◆ setPositionLowerLimits()

void dart::dynamics::GenericJoint< math::SO3Space >::setPositionLowerLimits ( const Eigen::VectorXd &  lowerLimits)
overrideinherited

◆ setPositions()

void dart::dynamics::GenericJoint< math::SO3Space >::setPositions ( const Eigen::VectorXd &  positions)
overrideinherited

◆ setPositionsStatic()

void dart::dynamics::GenericJoint< math::SO3Space >::setPositionsStatic ( const Vector positions)
inherited

Fixed-size version of setPositions()

◆ setPositionUpperLimit()

void dart::dynamics::GenericJoint< math::SO3Space >::setPositionUpperLimit ( std::size_t  index,
double  position 
)
overrideinherited

◆ setPositionUpperLimits()

void dart::dynamics::GenericJoint< math::SO3Space >::setPositionUpperLimits ( const Eigen::VectorXd &  upperLimits)
overrideinherited

◆ setProperties() [1/2]

void dart::dynamics::GenericJoint< math::SO3Space >::setProperties ( const Properties properties)
inherited

Set the Properties of this GenericJoint.

◆ setProperties() [2/2]

void dart::dynamics::GenericJoint< math::SO3Space >::setProperties ( const UniqueProperties properties)
inherited

Set the Properties of this GenericJoint.

◆ setRestPosition()

void dart::dynamics::GenericJoint< math::SO3Space >::setRestPosition ( std::size_t  index,
double  q0 
)
overrideinherited

◆ setSpringStiffness()

void dart::dynamics::GenericJoint< math::SO3Space >::setSpringStiffness ( std::size_t  index,
double  k 
)
overrideinherited

◆ setVelocities()

void dart::dynamics::GenericJoint< math::SO3Space >::setVelocities ( const Eigen::VectorXd &  velocities)
overrideinherited

◆ setVelocitiesStatic()

void dart::dynamics::GenericJoint< math::SO3Space >::setVelocitiesStatic ( const Vector velocities)
inherited

Fixed-size version of setVelocities()

◆ setVelocity()

void dart::dynamics::GenericJoint< math::SO3Space >::setVelocity ( std::size_t  index,
double  velocity 
)
overrideinherited

◆ setVelocityChange()

void dart::dynamics::GenericJoint< math::SO3Space >::setVelocityChange ( std::size_t  index,
double  velocityChange 
)
overrideinherited

◆ setVelocityLowerLimit()

void dart::dynamics::GenericJoint< math::SO3Space >::setVelocityLowerLimit ( std::size_t  index,
double  velocity 
)
overrideinherited

◆ setVelocityLowerLimits()

void dart::dynamics::GenericJoint< math::SO3Space >::setVelocityLowerLimits ( const Eigen::VectorXd &  lowerLimits)
overrideinherited

◆ setVelocityUpperLimit()

void dart::dynamics::GenericJoint< math::SO3Space >::setVelocityUpperLimit ( std::size_t  index,
double  velocity 
)
overrideinherited

◆ setVelocityUpperLimits()

void dart::dynamics::GenericJoint< math::SO3Space >::setVelocityUpperLimits ( const Eigen::VectorXd &  upperLimits)
overrideinherited

◆ updateAcceleration()

void dart::dynamics::GenericJoint< math::SO3Space >::updateAcceleration ( const Eigen::Matrix6d artInertia,
const Eigen::Vector6d spatialAcc 
)
overrideprotectedinherited

◆ updateAccelerationDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateAccelerationDynamic ( const Eigen::Matrix6d artInertia,
const Eigen::Vector6d spatialAcc 
)
privateinherited

◆ updateAccelerationKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateAccelerationKinematic ( const Eigen::Matrix6d artInertia,
const Eigen::Vector6d spatialAcc 
)
privateinherited

◆ updateConstrainedTerms()

void dart::dynamics::GenericJoint< math::SO3Space >::updateConstrainedTerms ( double  timeStep)
overrideprotectedinherited

◆ updateConstrainedTermsDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateConstrainedTermsDynamic ( double  timeStep)
privateinherited

◆ updateConstrainedTermsKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateConstrainedTermsKinematic ( double  timeStep)
privateinherited

◆ updateDegreeOfFreedomNames()

void dart::dynamics::BallJoint::updateDegreeOfFreedomNames ( )
overrideprotected

◆ updateForceFD()

void dart::dynamics::GenericJoint< math::SO3Space >::updateForceFD ( const Eigen::Vector6d bodyForce,
double  timeStep,
bool  withDampingForcese,
bool  withSpringForces 
)
overrideprotectedinherited

◆ updateForceID()

void dart::dynamics::GenericJoint< math::SO3Space >::updateForceID ( const Eigen::Vector6d bodyForce,
double  timeStep,
bool  withDampingForces,
bool  withSpringForces 
)
overrideprotectedinherited

◆ updateImpulseFD()

void dart::dynamics::GenericJoint< math::SO3Space >::updateImpulseFD ( const Eigen::Vector6d bodyImpulse)
overrideprotectedinherited

◆ updateImpulseID()

void dart::dynamics::GenericJoint< math::SO3Space >::updateImpulseID ( const Eigen::Vector6d bodyImpulse)
overrideprotectedinherited

◆ updateInvProjArtInertia()

void dart::dynamics::GenericJoint< math::SO3Space >::updateInvProjArtInertia ( const Eigen::Matrix6d artInertia)
overrideprotectedinherited

◆ updateInvProjArtInertiaDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateInvProjArtInertiaDynamic ( const Eigen::Matrix6d artInertia)
privateinherited

◆ updateInvProjArtInertiaImplicit()

void dart::dynamics::GenericJoint< math::SO3Space >::updateInvProjArtInertiaImplicit ( const Eigen::Matrix6d artInertia,
double  timeStep 
)
overrideprotectedinherited

◆ updateInvProjArtInertiaImplicitDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateInvProjArtInertiaImplicitDynamic ( const Eigen::Matrix6d artInertia,
double  timeStep 
)
privateinherited

◆ updateInvProjArtInertiaImplicitKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateInvProjArtInertiaImplicitKinematic ( const Eigen::Matrix6d artInertia,
double  timeStep 
)
privateinherited

◆ updateInvProjArtInertiaKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateInvProjArtInertiaKinematic ( const Eigen::Matrix6d artInertia)
privateinherited

◆ updateRelativeJacobian()

void dart::dynamics::BallJoint::updateRelativeJacobian ( bool  _mandatory = true) const
overrideprotected

◆ updateRelativeJacobianTimeDeriv()

void dart::dynamics::BallJoint::updateRelativeJacobianTimeDeriv ( ) const
overrideprotected

◆ updateRelativePrimaryAcceleration()

void dart::dynamics::GenericJoint< math::SO3Space >::updateRelativePrimaryAcceleration
overrideprotectedinherited

◆ updateRelativeSpatialAcceleration()

void dart::dynamics::GenericJoint< math::SO3Space >::updateRelativeSpatialAcceleration
overrideprotectedinherited

◆ updateRelativeSpatialVelocity()

void dart::dynamics::GenericJoint< math::SO3Space >::updateRelativeSpatialVelocity
overrideprotectedinherited

◆ updateRelativeTransform()

void dart::dynamics::BallJoint::updateRelativeTransform ( ) const
overrideprotected

◆ updateTotalForce()

void dart::dynamics::GenericJoint< math::SO3Space >::updateTotalForce ( const Eigen::Vector6d bodyForce,
double  timeStep 
)
overrideprotectedinherited

◆ updateTotalForceDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateTotalForceDynamic ( const Eigen::Vector6d bodyForce,
double  timeStep 
)
privateinherited

◆ updateTotalForceForInvMassMatrix()

void dart::dynamics::GenericJoint< math::SO3Space >::updateTotalForceForInvMassMatrix ( const Eigen::Vector6d bodyForce)
overrideprotectedinherited

◆ updateTotalForceKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateTotalForceKinematic ( const Eigen::Vector6d bodyForce,
double  timeStep 
)
privateinherited

◆ updateTotalImpulse()

void dart::dynamics::GenericJoint< math::SO3Space >::updateTotalImpulse ( const Eigen::Vector6d bodyImpulse)
overrideprotectedinherited

◆ updateTotalImpulseDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateTotalImpulseDynamic ( const Eigen::Vector6d bodyImpulse)
privateinherited

◆ updateTotalImpulseKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateTotalImpulseKinematic ( const Eigen::Vector6d bodyImpulse)
privateinherited

◆ updateVelocityChange()

void dart::dynamics::GenericJoint< math::SO3Space >::updateVelocityChange ( const Eigen::Matrix6d artInertia,
const Eigen::Vector6d velocityChange 
)
overrideprotectedinherited

◆ updateVelocityChangeDynamic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateVelocityChangeDynamic ( const Eigen::Matrix6d artInertia,
const Eigen::Vector6d velocityChange 
)
privateinherited

◆ updateVelocityChangeKinematic()

void dart::dynamics::GenericJoint< math::SO3Space >::updateVelocityChangeKinematic ( const Eigen::Matrix6d artInertia,
const Eigen::Vector6d velocityChange 
)
privateinherited

Friends And Related Function Documentation

◆ Skeleton

friend class Skeleton
friend

Member Data Documentation

◆ 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.

◆ mConstraintImpulses

Vector dart::dynamics::GenericJoint< math::SO3Space >::mConstraintImpulses
protectedinherited

Generalized constraint impulse.

◆ mDofs

std::array<DegreeOfFreedom*, NumDofs> dart::dynamics::GenericJoint< math::SO3Space >::mDofs
protectedinherited

Array of DegreeOfFreedom objects.

◆ mImpulses

Vector dart::dynamics::GenericJoint< math::SO3Space >::mImpulses
protectedinherited

Generalized impulse.

◆ mInvM_a

Vector dart::dynamics::GenericJoint< math::SO3Space >::mInvM_a
protectedinherited

◆ mInvMassMatrixSegment

Vector dart::dynamics::GenericJoint< math::SO3Space >::mInvMassMatrixSegment
protectedinherited

◆ mInvProjArtInertia

Matrix dart::dynamics::GenericJoint< math::SO3Space >::mInvProjArtInertia
mutableprotectedinherited

Inverse of projected articulated inertia.

Do not use directly! Use getInvProjArtInertia() to get this quantity

◆ mInvProjArtInertiaImplicit

Matrix dart::dynamics::GenericJoint< math::SO3Space >::mInvProjArtInertiaImplicit
mutableprotectedinherited

Inverse of projected articulated inertia for implicit joint damping and spring forces.

Do not use directly! Use getInvProjArtInertiaImplicit() to access this quantity

◆ mJacobian

JacobianMatrix dart::dynamics::GenericJoint< math::SO3Space >::mJacobian
mutableprotectedinherited

Spatial Jacobian expressed in the child body frame.

Do not use directly! Use getRelativeJacobianStatic() to access this quantity

◆ mJacobianDeriv

JacobianMatrix dart::dynamics::GenericJoint< math::SO3Space >::mJacobianDeriv
mutableprotectedinherited

Time derivative of spatial Jacobian expressed in the child body frame.

Do not use directly! Use getRelativeJacobianTimeDerivStatic() to access this quantity

◆ mR

Eigen::Isometry3d dart::dynamics::BallJoint::mR
mutableprotected

Rotation matrix dependent on the generalized coordinates.

Do not use directly! Use getR() to access this

◆ mTotalForce

Vector dart::dynamics::GenericJoint< math::SO3Space >::mTotalForce
protectedinherited

Total force projected on joint space.

◆ mTotalImpulse

Vector dart::dynamics::GenericJoint< math::SO3Space >::mTotalImpulse
protectedinherited

Total impluse projected on joint space.

◆ mVelocityChanges

Vector dart::dynamics::GenericJoint< math::SO3Space >::mVelocityChanges
protectedinherited

Change of generalized velocity.

◆ NumDofs

constexpr size_t dart::dynamics::GenericJoint< math::SO3Space >::NumDofs
staticconstexprinherited