Classes
class	BasicNodeManagerForBodyNode

class	BasicNodeManagerForSkeleton

struct	BodyNodeState

struct	BodyNodeAspectProperties

struct	EndEffectorProperties

struct	SupportStateData

struct	SupportPropertiesData

struct	EntityNodeProperties

class	EntityNodeBase

class	EntityNodeBase< Base, true >

struct	EulerJointUniqueProperties

struct	EulerJointProperties

struct	FixedFrameProperties

struct	GenericJointState

struct	GenericJointUniqueProperties

struct	GenericJointProperties

struct	JointProperties

struct	MarkerProperties

struct	PlanarJointUniqueProperties
	Properties that are unique to PlanarJoints. More...

struct	PlanarJointProperties

struct	PrismaticJointUniqueProperties

struct	PrismaticJointProperties

struct	RevoluteJointUniqueProperties

struct	RevoluteJointProperties

struct	ScrewJointUniqueProperties

struct	ScrewJointProperties

struct	VisualAspectProperties

struct	CollisionAspectProperties

struct	DynamicsAspectProperties

struct	ShapeFrameProperties

struct	SkeletonAspectProperties
	The Properties of this Skeleton which are independent of the components within the Skeleton, such as its BodyNodes and Joints. More...

struct	SoftBodyNodeUniqueState

struct	SoftBodyNodeUniqueProperties

struct	SoftBodyNodeProperties

class	TranslationalJoint2DUniqueProperties

struct	TranslationalJoint2DProperties

struct	UniversalJointUniqueProperties

struct	UniversalJointProperties

Typedefs
using	NodeTypeStateVector = common::CloneableVector< std::unique_ptr< Node::State > >

using	NodeStateMap = std::map< std::type_index, std::unique_ptr< NodeTypeStateVector > >

using	AllNodeStates = common::CloneableMap< NodeStateMap >

using	NodeTypePropertiesVector = common::CloneableVector< std::unique_ptr< Node::Properties > >

using	NodePropertiesMap = std::map< std::type_index, std::unique_ptr< NodeTypePropertiesVector > >

using	AllNodeProperties = common::CloneableMap< NodePropertiesMap >

using	NodeVectorProxyAspectState = common::ProxyCloneable< common::Aspect::State, BodyNode, AllNodeStates, &setAllNodeStates, &getAllNodeStates >

using	NodeVectorProxyAspectProperties = common::ProxyCloneable< common::Aspect::Properties, BodyNode, AllNodeProperties, &setAllNodeProperties, &getAllNodeProperties >

using	NodeVectorProxyAspect = common::ProxyStateAndPropertiesAspect< BodyNode, NodeVectorProxyAspectState, NodeVectorProxyAspectProperties >

using	BodyNodeCompositeBase = common::EmbedStateAndPropertiesOnTopOf< BodyNode, BodyNodeState, BodyNodeAspectProperties, common::RequiresAspect< NodeVectorProxyAspect > >

using	EndEffectorCompositeBase = CompositeNode< common::CompositeJoiner< FixedJacobianNode, common::SpecializedForAspect< Support > > >

template<class Base >
using	EntityNodeAspectBase = common::EmbedProperties< EntityNode< Base >, EntityNodeProperties >

using	EulerJointBase = common::EmbedPropertiesOnTopOf< EulerJoint, EulerJointUniqueProperties, GenericJoint< math::R3Space > >

using	FixedJacobianNodeCompositeBase = common::CompositeJoiner< EntityNode< TemplatedJacobianNode< FixedJacobianNode > >, common::Virtual< FixedFrame > >

template<class Derived , class ConfigSpaceT >
using	GenericJointBase = common::EmbedStateAndPropertiesOnTopOf< Derived, GenericJointState< ConfigSpaceT >, GenericJointUniqueProperties< ConfigSpaceT >, Joint >

using	PlanarJointBase = common::EmbedPropertiesOnTopOf< PlanarJoint, PlanarJointUniqueProperties, GenericJoint< math::R3Space > >

using	PrismaticJointBase = common::EmbedPropertiesOnTopOf< PrismaticJoint, PrismaticJointUniqueProperties, GenericJoint< math::R1Space > >

using	RevoluteJointBase = common::EmbedPropertiesOnTopOf< RevoluteJoint, RevoluteJointUniqueProperties, GenericJoint< math::R1Space > >

using	ScrewJointBase = common::EmbedPropertiesOnTopOf< ScrewJoint, ScrewJointUniqueProperties, GenericJoint< math::R1Space > >

using	ShapeFrameCompositeBase = common::EmbedPropertiesOnTopOf< ShapeFrame, ShapeFrameProperties, common::SpecializedForAspect< VisualAspect, CollisionAspect, DynamicsAspect > >

using	ShapeNodeCompositeBase = CompositeNode< common::CompositeJoiner< FixedJacobianNode, ShapeFrame > >

using	BodyNodeStateVector = std::vector< common::Composite::State >

using	BodyNodePropertiesVector = std::vector< common::Composite::Properties >

using	JointStateVector = std::vector< common::Composite::State >

using	JointPropertiesVector = std::vector< common::Composite::Properties >

using	BodyNodeVectorProxyAspectState = common::ProxyCloneable< common::Aspect::State, Skeleton, BodyNodeStateVector, &setAllBodyNodeStates, &getAllBodyNodeStates >

using	BodyNodeVectorProxyAspectProperties = common::ProxyCloneable< common::Aspect::Properties, Skeleton, BodyNodePropertiesVector, &setAllBodyNodeProperties, &getAllBodyNodeProperties >

using	BodyNodeVectorProxyAspect = common::ProxyStateAndPropertiesAspect< Skeleton, BodyNodeVectorProxyAspectState, BodyNodeVectorProxyAspectProperties >

using	JointVectorProxyAspectState = common::ProxyCloneable< common::Aspect::State, Skeleton, JointStateVector, &setAllJointStates, &getAllJointStates >

using	JointVectorProxyAspectProperties = common::ProxyCloneable< common::Aspect::Properties, Skeleton, JointPropertiesVector, &setAllJointProperties, &getAllJointProperties >

using	JointVectorProxyAspect = common::ProxyStateAndPropertiesAspect< Skeleton, JointVectorProxyAspectState, JointVectorProxyAspectProperties >

using	SkeletonProxyAspects = common::RequiresAspect< BodyNodeVectorProxyAspect, JointVectorProxyAspect >

using	SkeletonAspectBase = common::EmbedPropertiesOnTopOf< Skeleton, SkeletonAspectProperties, SkeletonProxyAspects >

using	SoftBodyNodeBase = common::EmbedStateAndPropertiesOnTopOf< SoftBodyNode, SoftBodyNodeUniqueState, SoftBodyNodeUniqueProperties, BodyNode >

using	TranslationalJoint2DBase = common::EmbedPropertiesOnTopOf< TranslationalJoint2D, TranslationalJoint2DUniqueProperties, GenericJoint< math::R2Space > >

using	UniversalJointBase = common::EmbedPropertiesOnTopOf< UniversalJoint, UniversalJointUniqueProperties, GenericJoint< math::R2Space > >

Enumerations
enum class	AxisOrder : int { ZYX = 0 , XYZ = 1 }
	Axis order. More...

enum	ActuatorType { FORCE , PASSIVE , SERVO , MIMIC , ACCELERATION , VELOCITY , LOCKED }
	Actuator type. More...

enum class	PlaneType : int { XY , YZ , ZX , ARBITRARY }
	Plane type. More...

Functions
void	setAllNodeStates (BodyNode *bodyNode, const AllNodeStates &states)

AllNodeStates	getAllNodeStates (const BodyNode *bodyNode)

void	setAllNodeProperties (BodyNode *bodyNode, const AllNodeProperties &properties)

AllNodeProperties	getAllNodeProperties (const BodyNode *bodyNode)

void	SupportUpdate (Support *support)

void	setAllBodyNodeStates (Skeleton *skel, const BodyNodeStateVector &states)

BodyNodeStateVector	getAllBodyNodeStates (const Skeleton *skel)

void	setAllBodyNodeProperties (Skeleton *skel, const BodyNodePropertiesVector &properties)

BodyNodePropertiesVector	getAllBodyNodeProperties (const Skeleton *skel)

void	setAllJointStates (Skeleton *skel, const JointStateVector &states)

JointStateVector	getAllJointStates (const Skeleton *skel)

void	setAllJointProperties (Skeleton *skel, const JointPropertiesVector &properties)

JointPropertiesVector	getAllJointProperties (const Skeleton *skel)

template<class Owner , class Object , class ObjectBase , class Data , std::size_t(Owner::)() const getNumObjects, Object (Owner::)(std::size_t) getObject, void(ObjectBase::)(const Data &) setData>
void	setAllMemberObjectData (Owner *owner, const std::vector< Data > &data)
	Templated function for passing each entry in a std::vector<Data> into each member of an array of Objects belonging to some Owner class. More...

template<class Owner , class Object , class ObjectBase , class Data , std::size_t(Owner::)() const getNumObjects, const Object (Owner::)(std::size_t) const getObject, Data(ObjectBase::)() const getData>
std::vector< Data >	getAllMemberObjectData (const Owner *owner)
	Templated function for aggregating a std::vector<Data> out of each member of an array of Objects belonging to some Owner class. More...

Variables
const ActuatorType	DefaultActuatorType = FORCE

Typedef Documentation

◆ AllNodeProperties

using dart::dynamics::detail::AllNodeProperties = typedef common::CloneableMap<NodePropertiesMap>

◆ AllNodeStates

using dart::dynamics::detail::AllNodeStates = typedef common::CloneableMap<NodeStateMap>

◆ BodyNodeCompositeBase

using dart::dynamics::detail::BodyNodeCompositeBase = typedef common::EmbedStateAndPropertiesOnTopOf< BodyNode, BodyNodeState, BodyNodeAspectProperties, common::RequiresAspect<NodeVectorProxyAspect> >

◆ BodyNodePropertiesVector

using dart::dynamics::detail::BodyNodePropertiesVector = typedef std::vector<common::Composite::Properties>

◆ BodyNodeStateVector

using dart::dynamics::detail::BodyNodeStateVector = typedef std::vector<common::Composite::State>

◆ BodyNodeVectorProxyAspect

using dart::dynamics::detail::BodyNodeVectorProxyAspect = typedef common::ProxyStateAndPropertiesAspect< Skeleton, BodyNodeVectorProxyAspectState, BodyNodeVectorProxyAspectProperties>

◆ BodyNodeVectorProxyAspectProperties

using dart::dynamics::detail::BodyNodeVectorProxyAspectProperties = typedef common::ProxyCloneable< common::Aspect::Properties, Skeleton, BodyNodePropertiesVector, &setAllBodyNodeProperties, &getAllBodyNodeProperties>

◆ BodyNodeVectorProxyAspectState

using dart::dynamics::detail::BodyNodeVectorProxyAspectState = typedef common::ProxyCloneable< common::Aspect::State, Skeleton, BodyNodeStateVector, &setAllBodyNodeStates, &getAllBodyNodeStates>

◆ EndEffectorCompositeBase

using dart::dynamics::detail::EndEffectorCompositeBase = typedef CompositeNode<common::CompositeJoiner< FixedJacobianNode, common::SpecializedForAspect<Support> > >

◆ EntityNodeAspectBase

template<class Base >

using dart::dynamics::detail::EntityNodeAspectBase = typedef common::EmbedProperties<EntityNode<Base>, EntityNodeProperties>

◆ EulerJointBase

using dart::dynamics::detail::EulerJointBase = typedef common::EmbedPropertiesOnTopOf< EulerJoint, EulerJointUniqueProperties, GenericJoint<math::R3Space> >

◆ FixedJacobianNodeCompositeBase

using dart::dynamics::detail::FixedJacobianNodeCompositeBase = typedef common::CompositeJoiner< EntityNode<TemplatedJacobianNode<FixedJacobianNode> >, common::Virtual<FixedFrame> >

◆ GenericJointBase

template<class Derived , class ConfigSpaceT >

using dart::dynamics::detail::GenericJointBase = typedef common::EmbedStateAndPropertiesOnTopOf< Derived, GenericJointState<ConfigSpaceT>, GenericJointUniqueProperties<ConfigSpaceT>, Joint>

◆ JointPropertiesVector

using dart::dynamics::detail::JointPropertiesVector = typedef std::vector<common::Composite::Properties>

◆ JointStateVector

using dart::dynamics::detail::JointStateVector = typedef std::vector<common::Composite::State>

◆ JointVectorProxyAspect

using dart::dynamics::detail::JointVectorProxyAspect = typedef common::ProxyStateAndPropertiesAspect< Skeleton, JointVectorProxyAspectState, JointVectorProxyAspectProperties>

◆ JointVectorProxyAspectProperties

using dart::dynamics::detail::JointVectorProxyAspectProperties = typedef common::ProxyCloneable< common::Aspect::Properties, Skeleton, JointPropertiesVector, &setAllJointProperties, &getAllJointProperties>

◆ JointVectorProxyAspectState

using dart::dynamics::detail::JointVectorProxyAspectState = typedef common::ProxyCloneable< common::Aspect::State, Skeleton, JointStateVector, &setAllJointStates, &getAllJointStates>

◆ NodePropertiesMap

using dart::dynamics::detail::NodePropertiesMap = typedef std::map<std::type_index, std::unique_ptr<NodeTypePropertiesVector> >

◆ NodeStateMap

using dart::dynamics::detail::NodeStateMap = typedef std::map<std::type_index, std::unique_ptr<NodeTypeStateVector> >

◆ NodeTypePropertiesVector

using dart::dynamics::detail::NodeTypePropertiesVector = typedef common::CloneableVector<std::unique_ptr<Node::Properties> >

◆ NodeTypeStateVector

using dart::dynamics::detail::NodeTypeStateVector = typedef common::CloneableVector<std::unique_ptr<Node::State> >

◆ NodeVectorProxyAspect

using dart::dynamics::detail::NodeVectorProxyAspect = typedef common::ProxyStateAndPropertiesAspect< BodyNode, NodeVectorProxyAspectState, NodeVectorProxyAspectProperties>

◆ NodeVectorProxyAspectProperties

using dart::dynamics::detail::NodeVectorProxyAspectProperties = typedef common::ProxyCloneable< common::Aspect::Properties, BodyNode, AllNodeProperties, &setAllNodeProperties, &getAllNodeProperties>

◆ NodeVectorProxyAspectState

using dart::dynamics::detail::NodeVectorProxyAspectState = typedef common::ProxyCloneable< common::Aspect::State, BodyNode, AllNodeStates, &setAllNodeStates, &getAllNodeStates>

◆ PlanarJointBase

using dart::dynamics::detail::PlanarJointBase = typedef common::EmbedPropertiesOnTopOf< PlanarJoint, PlanarJointUniqueProperties, GenericJoint<math::R3Space> >

◆ PrismaticJointBase

using dart::dynamics::detail::PrismaticJointBase = typedef common::EmbedPropertiesOnTopOf< PrismaticJoint, PrismaticJointUniqueProperties, GenericJoint<math::R1Space> >

◆ RevoluteJointBase

using dart::dynamics::detail::RevoluteJointBase = typedef common::EmbedPropertiesOnTopOf< RevoluteJoint, RevoluteJointUniqueProperties, GenericJoint<math::R1Space> >

◆ ScrewJointBase

using dart::dynamics::detail::ScrewJointBase = typedef common::EmbedPropertiesOnTopOf< ScrewJoint, ScrewJointUniqueProperties, GenericJoint<math::R1Space> >

◆ ShapeFrameCompositeBase

using dart::dynamics::detail::ShapeFrameCompositeBase = typedef common::EmbedPropertiesOnTopOf< ShapeFrame, ShapeFrameProperties, common:: SpecializedForAspect<VisualAspect, CollisionAspect, DynamicsAspect> >

◆ ShapeNodeCompositeBase

using dart::dynamics::detail::ShapeNodeCompositeBase = typedef CompositeNode<common::CompositeJoiner<FixedJacobianNode, ShapeFrame> >

◆ SkeletonAspectBase

using dart::dynamics::detail::SkeletonAspectBase = typedef common::EmbedPropertiesOnTopOf< Skeleton, SkeletonAspectProperties, SkeletonProxyAspects>

◆ SkeletonProxyAspects

using dart::dynamics::detail::SkeletonProxyAspects = typedef common::RequiresAspect<BodyNodeVectorProxyAspect, JointVectorProxyAspect>

◆ SoftBodyNodeBase

using dart::dynamics::detail::SoftBodyNodeBase = typedef common::EmbedStateAndPropertiesOnTopOf< SoftBodyNode, SoftBodyNodeUniqueState, SoftBodyNodeUniqueProperties, BodyNode>

◆ TranslationalJoint2DBase

using dart::dynamics::detail::TranslationalJoint2DBase = typedef common::EmbedPropertiesOnTopOf< TranslationalJoint2D, TranslationalJoint2DUniqueProperties, GenericJoint<math::R2Space> >

◆ UniversalJointBase

using dart::dynamics::detail::UniversalJointBase = typedef common::EmbedPropertiesOnTopOf< UniversalJoint, UniversalJointUniqueProperties, GenericJoint<math::R2Space> >

Enumeration Type Documentation

◆ ActuatorType

enum dart::dynamics::detail::ActuatorType

Actuator type.

The command is taken by setCommand() or setCommands(), and the meaning of command is different depending on the actuator type. The default actuator type is FORCE. (TODO: FreeJoint should be PASSIVE?)

FORCE/PASSIVE/SERVO/MIMIC joints are dynamic joints while ACCELERATION/VELOCITY/LOCKED joints are kinematic joints.

Note the presence of joint damping force and joint spring force for all the actuator types if the coefficients are non-zero. The default coefficients are zero.

See also: setActuatorType(), getActuatorType(), setSpringStiffness(), setDampingCoefficient(),

Enumerator
FORCE	Command input is joint force, and the output is joint acceleration. If the command is zero, then it's identical to passive joint. The valid joint constraints are position limit, velocity limit, and Coulomb friction, and the invalid joint constraint is force limit.
PASSIVE	Passive joint doesn't take any command input, and the output is joint acceleration. The valid joint constraints are position limit, velocity limit, and Coulomb friction, and the invalid joint constraint is force limit.
SERVO	Command input is desired velocity, and the output is joint acceleration. The constraint solver will try to track the desired velocity within the joint force limit. All the joint constraints are valid.
MIMIC	There is no command input. The joint tries to follow the position of another joint (the mimic joint) by computing desired velocities. The output is joint acceleration. The constraint solver will try to track the desired velocity within the joint force limit. All the joint constraints are valid.
ACCELERATION	Command input is joint acceleration, and the output is joint force. The joint acceleration is always satisfied but it doesn't take the joint force limit into account. All the joint constraints are invalid.
VELOCITY	Command input is joint velocity, and the output is joint force. The joint velocity is always satisfied but it doesn't take the joint force limit into account. If you want to consider the joint force limit, should use SERVO instead. All the joint constraints are invalid.
LOCKED	Locked joint always set the velocity and acceleration to zero so that the joint dosen't move at all (locked), and the output is joint force. force. All the joint constraints are invalid.

◆ AxisOrder

enum dart::dynamics::detail::AxisOrder : int

strong

Axis order.

Enumerator
ZYX
XYZ

◆ PlaneType

enum dart::dynamics::detail::PlaneType : int

strong

Plane type.

Enumerator
XY
YZ
ZX
ARBITRARY

Function Documentation

◆ getAllBodyNodeProperties()

BodyNodePropertiesVector dart::dynamics::detail::getAllBodyNodeProperties ( const Skeleton * skel )

◆ getAllBodyNodeStates()

BodyNodeStateVector dart::dynamics::detail::getAllBodyNodeStates ( const Skeleton * skel )

◆ getAllJointProperties()

BodyNodePropertiesVector dart::dynamics::detail::getAllJointProperties ( const Skeleton * skel )

◆ getAllJointStates()

BodyNodeStateVector dart::dynamics::detail::getAllJointStates ( const Skeleton * skel )

◆ getAllMemberObjectData()

template<class Owner , class Object , class ObjectBase , class Data , std::size_t(Owner::*)() const getNumObjects, const Object *(Owner::*)(std::size_t) const getObject, Data(ObjectBase::*)() const getData>

std::vector<Data> dart::dynamics::detail::getAllMemberObjectData ( const Owner * owner )

Templated function for aggregating a std::vector<Data> out of each member of an array of Objects belonging to some Owner class.

The ObjectBase argument should be the base class of Object in which the getData function is defined. In many cases, ObjectBase may be the same as Object, but it is not always.

◆ getAllNodeProperties()

AllNodeProperties dart::dynamics::detail::getAllNodeProperties ( const BodyNode * bodyNode )

◆ getAllNodeStates()

AllNodeStates dart::dynamics::detail::getAllNodeStates ( const BodyNode * bodyNode )

◆ setAllBodyNodeProperties()

void dart::dynamics::detail::setAllBodyNodeProperties	(	Skeleton *	skel,
		const BodyNodePropertiesVector &	properties
	)

◆ setAllBodyNodeStates()

void dart::dynamics::detail::setAllBodyNodeStates	(	Skeleton *	skel,
		const BodyNodeStateVector &	states
	)

◆ setAllJointProperties()

void dart::dynamics::detail::setAllJointProperties	(	Skeleton *	skel,
		const JointPropertiesVector &	properties
	)

◆ setAllJointStates()

void dart::dynamics::detail::setAllJointStates	(	Skeleton *	skel,
		const JointStateVector &	states
	)

◆ setAllMemberObjectData()

template<class Owner , class Object , class ObjectBase , class Data , std::size_t(Owner::*)() const getNumObjects, Object *(Owner::*)(std::size_t) getObject, void(ObjectBase::*)(const Data &) setData>

void dart::dynamics::detail::setAllMemberObjectData	(	Owner *	owner,
		const std::vector< Data > &	data
	)

Templated function for passing each entry in a std::vector<Data> into each member of an array of Objects belonging to some Owner class.

The ObjectBase argument should be the base class of Object in which the setData function is defined. In many cases, ObjectBase may be the same as Object, but it is not always.

◆ setAllNodeProperties()

void dart::dynamics::detail::setAllNodeProperties	(	BodyNode *	bodyNode,
		const AllNodeProperties &	properties
	)

◆ setAllNodeStates()

void dart::dynamics::detail::setAllNodeStates	(	BodyNode *	bodyNode,
		const AllNodeStates &	states
	)

Classes

Typedefs

Enumerations

Functions

Variables