DART 6.10.1
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Classes | Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
dart::dynamics::FixedJacobianNode Class Reference

#include <FixedJacobianNode.hpp>

Inheritance diagram for dart::dynamics::FixedJacobianNode:
dart::common::CompositeJoiner< OtherBases > dart::dynamics::AccessoryNode< FixedJacobianNode >

Classes

struct  Cache
 

Public Member Functions

void setRelativeTransform (const Eigen::Isometry3d &newRelativeTf) override
 Set the current relative transform of this Fixed Frame.
 
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.
 
std::size_t getIndexInSkeleton () const
 Get the index of this Node within its Skeleton.
 
std::size_t getIndexInTree () const
 Get the index of this Node within its tree.
 
std::size_t getTreeIndex () const
 Get the index of this Node's tree within its Skeleton.
 
void remove ()
 Stage the Node for removal.
 
void reattach ()
 Undo the effectos of calling remove().
 
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.
 
 FixedJacobianNode (const std::tuple< BodyNode *, Eigen::Isometry3d > &args)
 Tuple constructor.
 
void updateBodyJacobian () const
 Update the Jacobian of this Fixed Frame.
 
void updateWorldJacobian () const
 Update the World Jacobian cache.
 
void updateBodyJacobianSpatialDeriv () const
 Update the spatial time derivative of the Fixed Frame Jacobian.
 
void updateWorldJacobianClassicDeriv () const
 Update the classic time derivative of the Fixed Frame Jacobian.
 

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 ( ) const
inherited

Get the index of this Node within its BodyNode.

◆ getIndexInSkeleton()

std::size_t dart::dynamics::AccessoryNode< FixedJacobianNode >::getIndexInSkeleton ( ) const
inherited

Get the index of this Node within its Skeleton.

◆ getIndexInTree()

std::size_t dart::dynamics::AccessoryNode< FixedJacobianNode >::getIndexInTree ( ) const
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 ( ) const
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