#include <FixedJacobianNode.hpp>

Inheritance diagram for dart::dynamics::FixedJacobianNode:

Classes
struct	Cache

Public Member Functions
void	setRelativeTransform (const Eigen::Isometry3d &newRelativeTf) override
	Set the current relative transform of this Fixed Frame. More...

bool	dependsOn (std::size_t _genCoordIndex) const override

std::size_t	getNumDependentGenCoords () const override

std::size_t	getDependentGenCoordIndex (std::size_t _arrayIndex) const override

const std::vector< std::size_t > &	getDependentGenCoordIndices () const override

std::size_t	getNumDependentDofs () const override

DegreeOfFreedom *	getDependentDof (std::size_t _index) override

const DegreeOfFreedom *	getDependentDof (std::size_t _index) const override

const std::vector< DegreeOfFreedom * > &	getDependentDofs () override

const std::vector< const DegreeOfFreedom * > &	getDependentDofs () const override

const std::vector< const DegreeOfFreedom * >	getChainDofs () const override

std::size_t	getIndexInBodyNode () const
	Get the index of this Node within its BodyNode. More...

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

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

std::size_t	getTreeIndex () const
	Get the index of this Node's tree within its Skeleton. More...

void	remove ()
	Stage the Node for removal. More...

void	reattach ()
	Undo the effectos of calling remove(). More...

Jacobian Functions
const math::Jacobian &	getJacobian () const override final

const math::Jacobian &	getWorldJacobian () const override final

const math::Jacobian &	getJacobianSpatialDeriv () const override final

const math::Jacobian &	getJacobianClassicDeriv () const override final

Protected Member Functions
	FixedJacobianNode (BodyNode *parent, const Eigen::Isometry3d &transform)
	Constructor. More...

	FixedJacobianNode (const std::tuple< BodyNode *, Eigen::Isometry3d > &args)
	Tuple constructor. More...

void	updateBodyJacobian () const
	Update the Jacobian of this Fixed Frame. More...

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

void	updateBodyJacobianSpatialDeriv () const
	Update the spatial time derivative of the Fixed Frame Jacobian. More...

void	updateWorldJacobianClassicDeriv () const
	Update the classic time derivative of the Fixed Frame Jacobian. More...

Protected Attributes
Cache	mCache

Constructor & Destructor Documentation

◆ FixedJacobianNode() [1/2]

dart::dynamics::FixedJacobianNode::FixedJacobianNode	(	BodyNode *	parent,
		const Eigen::Isometry3d &	transform
	)

protected

Constructor.

◆ FixedJacobianNode() [2/2]

dart::dynamics::FixedJacobianNode::FixedJacobianNode ( const std::tuple< BodyNode *, Eigen::Isometry3d > & args )

protected

Tuple constructor.

Member Function Documentation

◆ dependsOn()

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

override

◆ getChainDofs()

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

override

◆ getDependentDof() [1/2]

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

override

◆ getDependentDof() [2/2]

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

override

◆ getDependentDofs() [1/2]

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

override

◆ getDependentDofs() [2/2]

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

override

◆ getDependentGenCoordIndex()

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

override

◆ getDependentGenCoordIndices()

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

override

◆ getIndexInBodyNode()

std::size_t dart::dynamics::AccessoryNode< FixedJacobianNode >::getIndexInBodyNode

inherited

Get the index of this Node within its BodyNode.

◆ getIndexInSkeleton()

std::size_t dart::dynamics::AccessoryNode< FixedJacobianNode >::getIndexInSkeleton

inherited

Get the index of this Node within its Skeleton.

◆ getIndexInTree()

std::size_t dart::dynamics::AccessoryNode< FixedJacobianNode >::getIndexInTree

inherited

Get the index of this Node within its tree.

◆ getJacobian()

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

finaloverride

◆ getJacobianClassicDeriv()

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

finaloverride

◆ getJacobianSpatialDeriv()

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

finaloverride

◆ getNumDependentDofs()

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

override

◆ getNumDependentGenCoords()

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

override

◆ getTreeIndex()

std::size_t dart::dynamics::AccessoryNode< FixedJacobianNode >::getTreeIndex

inherited

Get the index of this Node's tree within its Skeleton.

◆ getWorldJacobian()

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

finaloverride

◆ reattach()

void dart::dynamics::AccessoryNode< FixedJacobianNode >::reattach

inherited

Undo the effectos of calling remove().

The Node will continue to exist, even when all the strong references to it expire.

◆ remove()

void dart::dynamics::AccessoryNode< FixedJacobianNode >::remove

inherited

Stage the Node for removal.

When all strong references to the Node expire, the Node will be removed from its BodyNode and deleted.

◆ setRelativeTransform()

void dart::dynamics::FixedJacobianNode::setRelativeTransform ( const Eigen::Isometry3d & newRelativeTf )

override

Set the current relative transform of this Fixed Frame.

◆ updateBodyJacobian()

void dart::dynamics::FixedJacobianNode::updateBodyJacobian ( ) const

protected

Update the Jacobian of this Fixed Frame.

getJacobian() calls this function if mIsBodyJacobianDirty is true.

◆ updateBodyJacobianSpatialDeriv()

void dart::dynamics::FixedJacobianNode::updateBodyJacobianSpatialDeriv ( ) const

protected

Update the spatial time derivative of the Fixed Frame Jacobian.

getJacobianSpatialDeriv() calls this function if mIsBodyJacobianSpatialDerivDirty is true.

◆ updateWorldJacobian()

void dart::dynamics::FixedJacobianNode::updateWorldJacobian ( ) const

protected

Update the World Jacobian cache.

◆ updateWorldJacobianClassicDeriv()

void dart::dynamics::FixedJacobianNode::updateWorldJacobianClassicDeriv ( ) const

protected

Update the classic time derivative of the Fixed Frame Jacobian.

getJacobianClassicDeriv() calls this function if mIsWorldJacobianClassicDerivDirty is true.

Member Data Documentation

◆ mCache

Cache dart::dynamics::FixedJacobianNode::mCache

mutableprotected

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

◆ FixedJacobianNode() [1/2]

◆ FixedJacobianNode() [2/2]

Member Function Documentation

◆ dependsOn()

◆ getChainDofs()

◆ getDependentDof() [1/2]

◆ getDependentDof() [2/2]

◆ getDependentDofs() [1/2]

◆ getDependentDofs() [2/2]

◆ getDependentGenCoordIndex()

◆ getDependentGenCoordIndices()

◆ getIndexInBodyNode()

◆ getIndexInSkeleton()

◆ getIndexInTree()

◆ getJacobian()

◆ getJacobianClassicDeriv()

◆ getJacobianSpatialDeriv()

◆ getNumDependentDofs()

◆ getNumDependentGenCoords()

◆ getTreeIndex()

◆ getWorldJacobian()

◆ reattach()

◆ remove()

◆ setRelativeTransform()

◆ updateBodyJacobian()

◆ updateBodyJacobianSpatialDeriv()

◆ updateWorldJacobian()

◆ updateWorldJacobianClassicDeriv()

Member Data Documentation

◆ mCache