#include <BallJoint.hpp>

Inheritance diagram for dart::dynamics::BallJoint:

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.

const std::string &	getType () const override

bool	isCyclic (std::size_t _index) const override

Properties	getBallJointProperties () const
	Get the Properties of this BallJoint.

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 .

ThisClass::Aspect *	getGenericJointAspect ()
	Get a(an) GenericJointAspect from this Composite.

const ThisClass::Aspect *	getGenericJointAspect () const
	Get a(an) GenericJointAspect from this Composite.

ThisClass::Aspect *	getGenericJointAspect (const bool createIfNull)
	Get a(an) GenericJointAspect from this Composite.

void	setGenericJointAspect (const typename ThisClass::Aspect *aspect)
	Make a clone of GenericJointAspect and place the clone into this Composite.

void	setGenericJointAspect (std::unique_ptr< typename ThisClass::Aspect > &&aspect)
	Use move semantics to place GenericJointAspect into this Composite.

ThisClass::Aspect *	createGenericJointAspect (Args &&... args)
	Construct a(an) GenericJointAspect inside of this Composite.

void	removeGenericJointAspect ()
	Remove a(an) GenericJointAspect from this Composite.

std::unique_ptr< typename ThisClass::Aspect >	releaseGenericJointAspect ()
	Remove a(an) GenericJointAspect from this Composite, but return its unique_ptr instead of letting it be deleted.

void	setProperties (const Properties &properties)
	Set the Properties of this GenericJoint.

void	setProperties (const UniqueProperties &properties)
	Set the Properties of this GenericJoint.

void	setAspectState (const AspectState &state)
	Set the AspectState of this GenericJoint.

void	setAspectProperties (const AspectProperties &properties)
	Set the AspectProperties of this GenericJoint.

Properties	getGenericJointProperties () const
	Get the Properties of this GenericJoint.

void	copy (const ThisClass &otherJoint)
	Copy the Properties of another GenericJoint.

void	copy (const ThisClass *otherJoint)
	Copy the Properties of another GenericJoint.

Eigen::Vector6d	getBodyConstraintWrench () const override

const AspectProperties &	getAspectProperties () const

const AspectState &	getAspectState () const

Interface for generalized coordinates
DegreeOfFreedom *	getDof (std::size_t index) override

const DegreeOfFreedom *	getDof (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()

const Vector &	getPositionsStatic () const
	Fixed-size version of getPositions()

void	setVelocitiesStatic (const Vector &velocities)
	Fixed-size version of setVelocities()

const Vector &	getVelocitiesStatic () const
	Fixed-size version of getVelocities()

void	setAccelerationsStatic (const Vector &accels)
	Fixed-size version of setAccelerations()

const Vector &	getAccelerationsStatic () const
	Fixed-size version of getAccelerations()

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()

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 >::JacobianMatrix &	getRelativeJacobianStatic () const
	Fixed-size version of getRelativeJacobian()

virtual JacobianMatrix	getRelativeJacobianStatic (const Vector &positions) const=0
	Fixed-size version of getRelativeJacobian(positions)

const math::Jacobian	getRelativeJacobianTimeDeriv () const override

const JacobianMatrix &	getRelativeJacobianTimeDerivStatic () const
	Fixed-size version of getRelativeJacobianTimeDeriv()

Static Public Member Functions
static const std::string &	getStaticType ()
	Get joint type for this class.

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.

static Eigen::Isometry3d	convertToTransform (const Eigen::Vector3d &_positions)
	Convert a BallJoint-style position vector into a transform.

static Eigen::Matrix3d	convertToRotation (const Eigen::Vector3d &_positions)
	Convert a BallJoint-style position vector into a rotation matrix.

Static Public Attributes
static constexpr std::size_t	NumDofs

Protected Member Functions
	BallJoint (const Properties &properties)
	Constructor called by Skeleton class.

Joint *	clone () 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.

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.

std::array< DegreeOfFreedom *, NumDofs >	mDofs
	Array of DegreeOfFreedom objects.

Vector	mVelocityChanges
	Change of generalized velocity.

Vector	mImpulses
	Generalized impulse.

Vector	mConstraintImpulses
	Generalized constraint impulse.

JacobianMatrix	mJacobian
	Spatial Jacobian expressed in the child body frame.

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

Matrix	mInvProjArtInertia
	Inverse of projected articulated inertia.

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

Vector	mTotalForce
	Total force projected on joint space.

Vector	mTotalImpulse
	Total impluse projected on joint space.

Vector	mInvM_a

Vector	mInvMassMatrixSegment

AspectProperties	mAspectProperties
	Aspect::Properties data, directly accessible to your derived class.

AspectState	mAspectState
	Aspect::State data, directly accessible to your derived class.

Friends
class	Skeleton

Recursive dynamics routines
const Matrix &	getInvProjArtInertia () const
	Get the inverse of the projected articulated inertia.

const Matrix &	getInvProjArtInertiaImplicit () const
	Get the inverse of projected articulated inertia for implicit joint damping and spring forces.

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

using dart::dynamics::BallJoint::Base = GenericJoint<math::SO3Space>

◆ 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

using dart::dynamics::GenericJoint< math::SO3Space >::Properties = detail::GenericJointProperties<math::SO3Space >

inherited

◆ ThisClass

using dart::dynamics::GenericJoint< math::SO3Space >::ThisClass = GenericJoint<math::SO3Space >

inherited

◆ UniqueProperties

using dart::dynamics::GenericJoint< math::SO3Space >::UniqueProperties = detail::GenericJointUniqueProperties<math::SO3Space >

inherited

◆ 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 ( ) const

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 ( ) const

overrideinherited

◆ getAccelerations()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getAccelerations ( ) const

overrideinherited

◆ getAccelerationsStatic()

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

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 ( ) const

overrideinherited

◆ getAspectProperties()

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

const AspectProperties & dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::getAspectProperties ( ) const

inlineinherited

◆ getAspectState()

template<class DerivedT , typename StateDataT , typename PropertiesDataT , typename... CompositeBases>

const AspectState & dart::common::EmbedStateAndProperties< DerivedT, StateDataT, PropertiesDataT >::getAspectState ( ) const

inlineinherited

◆ getBallJointProperties()

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

Get the Properties of this BallJoint.

◆ getBodyConstraintWrench()

Eigen::Vector6d dart::dynamics::GenericJoint< math::SO3Space >::getBodyConstraintWrench ( ) const

overrideinherited

◆ getCommand()

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

overrideinherited

◆ getCommands()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getCommands ( ) const

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 ( ) const

overrideinherited

◆ getForces()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getForces ( ) const

overrideinherited

◆ getForceUpperLimit()

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

overrideinherited

◆ getForceUpperLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getForceUpperLimits ( ) const

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()

GenericJoint< math::SO3Space >::Properties dart::dynamics::GenericJoint< math::SO3Space >::getGenericJointProperties ( ) const

inherited

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 ( ) const

overrideinherited

◆ getInitialVelocities()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getInitialVelocities ( ) const

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 ( ) const

protectedinherited

Get the inverse of the projected articulated inertia.

◆ getInvProjArtInertiaImplicit()

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

protectedinherited

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

◆ getNumDofs()

size_t dart::dynamics::GenericJoint< math::SO3Space >::getNumDofs ( ) const

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 ( ) const

overrideinherited

◆ getPositions()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getPositions ( ) const

overrideinherited

◆ getPositionsStatic()

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

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 ( ) const

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 ( ) const

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 ( ) const

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 ( ) const

overrideinherited

◆ getRelativeJacobianTimeDerivStatic()

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

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 ( ) const

overrideinherited

◆ getVelocitiesStatic()

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

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 ( ) const

overrideinherited

◆ getVelocityUpperLimit()

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

overrideinherited

◆ getVelocityUpperLimits()

Eigen::VectorXd dart::dynamics::GenericJoint< math::SO3Space >::getVelocityUpperLimits ( ) const

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 ( ) const

overrideprotectedinherited

◆ updateRelativeSpatialAcceleration()

void dart::dynamics::GenericJoint< math::SO3Space >::updateRelativeSpatialAcceleration ( ) const

overrideprotectedinherited

◆ updateRelativeSpatialVelocity()

void dart::dynamics::GenericJoint< math::SO3Space >::updateRelativeSpatialVelocity ( ) const

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 Symbol 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

Classes

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Friends

Recursive dynamics routines

Detailed Description

Member Typedef Documentation

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ AspectState

◆ AspectStateData

◆ Base

◆ Derived

◆ EuclideanPoint

◆ Impl

◆ JacobianMatrix

◆ Matrix

◆ Point

◆ Properties

◆ ThisClass

◆ UniqueProperties

◆ Vector

Constructor & Destructor Documentation

◆ ~BallJoint()

◆ BallJoint()

Member Function Documentation

◆ addAccelerationTo()

◆ addChildArtInertiaImplicitTo()

◆ addChildArtInertiaImplicitToDynamic()

◆ addChildArtInertiaImplicitToKinematic()

◆ addChildArtInertiaTo()

◆ addChildArtInertiaToDynamic()

◆ addChildArtInertiaToKinematic()

◆ addChildBiasForceForInvAugMassMatrix()

◆ addChildBiasForceForInvMassMatrix()

◆ addChildBiasForceTo()

◆ addChildBiasForceToDynamic()

◆ addChildBiasForceToKinematic()

◆ addChildBiasImpulseTo()

◆ addChildBiasImpulseToDynamic()

◆ addChildBiasImpulseToKinematic()

◆ addInvMassMatrixSegmentTo()

◆ addVelocityChangeTo()

◆ addVelocityTo()

◆ clone()

◆ computePotentialEnergy()

◆ convertToPositions()

◆ convertToRotation()

◆ convertToTransform()

◆ copy() [1/2]

◆ copy() [2/2]

◆ createGenericJointAspect()

◆ getAcceleration()

◆ getAccelerationLowerLimit()

◆ getAccelerationLowerLimits()

◆ getAccelerations()

◆ getAccelerationsStatic()

◆ getAccelerationUpperLimit()

◆ getAccelerationUpperLimits()

◆ getAspectProperties()

◆ getAspectState()

◆ getBallJointProperties()

◆ getBodyConstraintWrench()

◆ getCommand()

◆ getCommands()

◆ getConstraintImpulse()

◆ getCoulombFriction()

◆ getDampingCoefficient()

◆ getDof() [1/2]

◆ getDof() [2/2]

◆ getDofName()

◆ getForce()

◆ getForceLowerLimit()

◆ getForceLowerLimits()

◆ getForces()