#include <GenericJoint.hpp>

Inheritance diagram for dart::dynamics::GenericJoint< ConfigSpaceT >:

Public Types
using	ThisClass = GenericJoint< ConfigSpaceT >

using	Base = detail::GenericJointBase< ThisClass, ConfigSpaceT >

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< ConfigSpaceT >

using	Properties = detail::GenericJointProperties< ConfigSpaceT >

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
bool	hasGenericJointAspect () const
	Check if this Composite currently has GenericJointAspect . More...

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

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

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

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

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

template<typename ... Args>
ThisClass::Aspect *	createGenericJointAspect (Args &&... args)
	Construct a(an) GenericJointAspect inside of this Composite. More...

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

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

	GenericJoint (const ThisClass &)=delete

virtual	~GenericJoint ()
	Destructor. More...

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

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

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

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

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

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

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

ThisClass &	operator= (const ThisClass &other)
	Same as copy(const GenericJoint&) More...

Eigen::Vector6d	getBodyConstraintWrench () const override

const AspectState &	getAspectState () const

const AspectProperties &	getAspectProperties () 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() More...

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

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

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

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

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

Velocity
void	setVelocity (std::size_t index, double velocity) override

double	getVelocity (std::size_t index) const override

void	setVelocities (const Eigen::VectorXd &velocities) override

Eigen::VectorXd	getVelocities () const override

void	setVelocityLowerLimit (std::size_t index, double velocity) override

double	getVelocityLowerLimit (std::size_t index) const override

void	setVelocityLowerLimits (const Eigen::VectorXd &lowerLimits) override

Eigen::VectorXd	getVelocityLowerLimits () const override

void	setVelocityUpperLimit (std::size_t index, double velocity) override

double	getVelocityUpperLimit (std::size_t index) const override

void	setVelocityUpperLimits (const Eigen::VectorXd &upperLimits) override

Eigen::VectorXd	getVelocityUpperLimits () const override

void	resetVelocity (std::size_t index) override

void	resetVelocities () override

void	setInitialVelocity (std::size_t index, double initial) override

double	getInitialVelocity (std::size_t index) const override

void	setInitialVelocities (const Eigen::VectorXd &initial) override

Eigen::VectorXd	getInitialVelocities () const override

Acceleration
void	setAcceleration (std::size_t index, double acceleration) override

double	getAcceleration (std::size_t index) const override

void	setAccelerations (const Eigen::VectorXd &accelerations) override

Eigen::VectorXd	getAccelerations () const override

void	setAccelerationLowerLimit (size_t index, double acceleration) override

double	getAccelerationLowerLimit (std::size_t index) const override

void	setAccelerationLowerLimits (const Eigen::VectorXd &lowerLimits) override

Eigen::VectorXd	getAccelerationLowerLimits () const override

void	setAccelerationUpperLimit (std::size_t index, double acceleration) override

double	getAccelerationUpperLimit (std::size_t index) const override

void	setAccelerationUpperLimits (const Eigen::VectorXd &upperLimits) override

Eigen::VectorXd	getAccelerationUpperLimits () const override

void	resetAccelerations () override

Force
void	setForce (std::size_t index, double force) override

double	getForce (std::size_t index) const override

void	setForces (const Eigen::VectorXd &forces) override

Eigen::VectorXd	getForces () const override

void	setForceLowerLimit (size_t index, double force) override

double	getForceLowerLimit (std::size_t index) const override

void	setForceLowerLimits (const Eigen::VectorXd &lowerLimits) override

Eigen::VectorXd	getForceLowerLimits () const override

void	setForceUpperLimit (size_t index, double force) override

double	getForceUpperLimit (size_t index) const override

void	setForceUpperLimits (const Eigen::VectorXd &upperLimits) override

Eigen::VectorXd	getForceUpperLimits () const override

void	resetForces () override

Velocity change
void	setVelocityChange (std::size_t index, double velocityChange) override

double	getVelocityChange (std::size_t index) const override

void	resetVelocityChanges () override

Constraint impulse
void	setConstraintImpulse (std::size_t index, double impulse) override

double	getConstraintImpulse (std::size_t index) const override

void	resetConstraintImpulses () override

Integration and finite difference
void	integratePositions (double dt) override

void	integrateVelocities (double dt) override

Eigen::VectorXd	getPositionDifferences (const Eigen::VectorXd &q2, const Eigen::VectorXd &q1) const override

virtual Vector	getPositionDifferencesStatic (const Vector &q2, const Vector &q1) const
	Fixed-size version of getPositionDifferences() More...

Passive forces - spring, viscous friction, Coulomb friction
void	setSpringStiffness (std::size_t index, double k) override

double	getSpringStiffness (std::size_t index) const override

void	setRestPosition (std::size_t index, double q0) override

double	getRestPosition (std::size_t index) const override

void	setDampingCoefficient (std::size_t index, double coeff) override

double	getDampingCoefficient (std::size_t index) const override

void	setCoulombFriction (std::size_t index, double friction) override

double	getCoulombFriction (std::size_t index) const override

Energy
double	computePotentialEnergy () const override

Jacobians
const math::Jacobian	getRelativeJacobian () const override

const GenericJoint< ConfigSpaceT >::JacobianMatrix &	getRelativeJacobianStatic () const
	Fixed-size version of getRelativeJacobian() More...

math::Jacobian	getRelativeJacobian (const Eigen::VectorXd &_positions) const override

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

const math::Jacobian	getRelativeJacobianTimeDeriv () const override

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

Static Public Attributes
static constexpr std::size_t	NumDofs = ConfigSpaceT::NumDofs

Protected Member Functions
	GenericJoint (const Properties &properties)

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

Vector	mVelocityChanges
	Change of generalized velocity. More...

Vector	mImpulses
	Generalized impulse. More...

Vector	mConstraintImpulses
	Generalized constraint impulse. More...

JacobianMatrix	mJacobian
	Spatial Jacobian expressed in the child body frame. More...

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

Matrix	mInvProjArtInertia
	Inverse of projected articulated inertia. More...

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

Vector	mTotalForce
	Total force projected on joint space. More...

Vector	mTotalImpulse
	Total impluse projected on joint space. More...

Vector	mInvM_a

Vector	mInvMassMatrixSegment

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

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

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

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

void	updateRelativeSpatialVelocity () const override

void	updateRelativeSpatialAcceleration () const override

void	updateRelativePrimaryAcceleration () const override

void	addVelocityTo (Eigen::Vector6d &vel) override

void	setPartialAccelerationTo (Eigen::Vector6d &partialAcceleration, const Eigen::Vector6d &childVelocity) override

void	addAccelerationTo (Eigen::Vector6d &acc) override

void	addVelocityChangeTo (Eigen::Vector6d &velocityChange) override

void	addChildArtInertiaTo (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia) override

void	addChildArtInertiaImplicitTo (Eigen::Matrix6d &parentArtInertiaImplicit, const Eigen::Matrix6d &childArtInertiaImplicit) override

void	updateInvProjArtInertia (const Eigen::Matrix6d &artInertia) override

void	updateInvProjArtInertiaImplicit (const Eigen::Matrix6d &artInertia, double timeStep) override

void	addChildBiasForceTo (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce, const Eigen::Vector6d &childPartialAcc) override

void	addChildBiasImpulseTo (Eigen::Vector6d &parentBiasImpulse, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasImpulse) override

void	updateTotalForce (const Eigen::Vector6d &bodyForce, double timeStep) override

void	updateTotalImpulse (const Eigen::Vector6d &bodyImpulse) override

void	resetTotalImpulses () override

void	updateAcceleration (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc) override

void	updateVelocityChange (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &velocityChange) override

void	updateForceID (const Eigen::Vector6d &bodyForce, double timeStep, bool withDampingForces, bool withSpringForces) override

void	updateForceFD (const Eigen::Vector6d &bodyForce, double timeStep, bool withDampingForcese, bool withSpringForces) override

void	updateImpulseID (const Eigen::Vector6d &bodyImpulse) override

void	updateImpulseFD (const Eigen::Vector6d &bodyImpulse) override

void	updateConstrainedTerms (double timeStep) override

void	addChildArtInertiaToDynamic (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia)

void	addChildArtInertiaToKinematic (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia)

void	addChildArtInertiaImplicitToDynamic (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia)

void	addChildArtInertiaImplicitToKinematic (Eigen::Matrix6d &parentArtInertia, const Eigen::Matrix6d &childArtInertia)

void	updateInvProjArtInertiaDynamic (const Eigen::Matrix6d &artInertia)

void	updateInvProjArtInertiaKinematic (const Eigen::Matrix6d &artInertia)

void	updateInvProjArtInertiaImplicitDynamic (const Eigen::Matrix6d &artInertia, double timeStep)

void	updateInvProjArtInertiaImplicitKinematic (const Eigen::Matrix6d &artInertia, double timeStep)

void	addChildBiasForceToDynamic (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce, const Eigen::Vector6d &childPartialAcc)

void	addChildBiasForceToKinematic (Eigen::Vector6d &parentBiasForce, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasForce, const Eigen::Vector6d &childPartialAcc)

void	addChildBiasImpulseToDynamic (Eigen::Vector6d &parentBiasImpulse, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasImpulse)

void	addChildBiasImpulseToKinematic (Eigen::Vector6d &parentBiasImpulse, const Eigen::Matrix6d &childArtInertia, const Eigen::Vector6d &childBiasImpulse)

void	updateTotalForceDynamic (const Eigen::Vector6d &bodyForce, double timeStep)

void	updateTotalForceKinematic (const Eigen::Vector6d &bodyForce, double timeStep)

void	updateTotalImpulseDynamic (const Eigen::Vector6d &bodyImpulse)

void	updateTotalImpulseKinematic (const Eigen::Vector6d &bodyImpulse)

void	updateAccelerationDynamic (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc)

void	updateAccelerationKinematic (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &spatialAcc)

void	updateVelocityChangeDynamic (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &velocityChange)

void	updateVelocityChangeKinematic (const Eigen::Matrix6d &artInertia, const Eigen::Vector6d &velocityChange)

void	updateConstrainedTermsDynamic (double timeStep)

void	updateConstrainedTermsKinematic (double timeStep)

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

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::AspectProperties = typename Base::AspectProperties

◆ AspectPropertiesData

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

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

inherited

◆ AspectState

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::AspectState = typename Base::AspectState

◆ AspectStateData

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

using dart::common::EmbedStateAndPropertiesOnTopOf< DerivedT, StateDataT, PropertiesDataT, CompositeBases >::AspectStateData = typename Impl::AspectStateData

inherited

◆ Base

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::Base = detail::GenericJointBase<ThisClass, ConfigSpaceT>

◆ Derived

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

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

inherited

◆ EuclideanPoint

template<class ConfigSpaceT >

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

◆ 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

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::JacobianMatrix = typename ConfigSpaceT::JacobianMatrix

◆ Matrix

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::Matrix = typename ConfigSpaceT::Matrix

◆ Point

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::Point = typename ConfigSpaceT::Point

◆ Properties

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::Properties = detail::GenericJointProperties<ConfigSpaceT>

◆ ThisClass

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::ThisClass = GenericJoint<ConfigSpaceT>

◆ UniqueProperties

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::UniqueProperties = detail::GenericJointUniqueProperties<ConfigSpaceT>

◆ Vector

template<class ConfigSpaceT >

using dart::dynamics::GenericJoint< ConfigSpaceT >::Vector = typename ConfigSpaceT::Vector

Constructor & Destructor Documentation

◆ GenericJoint() [1/2]

template<class ConfigSpaceT >

dart::dynamics::GenericJoint< ConfigSpaceT >::GenericJoint ( const ThisClass & )

delete

◆ ~GenericJoint()

template<class ConfigSpaceT >

dart::dynamics::GenericJoint< ConfigSpaceT >::~GenericJoint

virtual

Destructor.

◆ GenericJoint() [2/2]

template<class ConfigSpaceT >

dart::dynamics::GenericJoint< ConfigSpaceT >::GenericJoint ( const Properties & properties )

protected

Member Function Documentation

◆ addAccelerationTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addAccelerationTo ( Eigen::Vector6d & acc )

overrideprotected

◆ addChildArtInertiaImplicitTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildArtInertiaImplicitTo	(	Eigen::Matrix6d &	parentArtInertiaImplicit,
		const Eigen::Matrix6d &	childArtInertiaImplicit
	)

overrideprotected

◆ addChildArtInertiaImplicitToDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildArtInertiaImplicitToDynamic	(	Eigen::Matrix6d &	parentArtInertia,
		const Eigen::Matrix6d &	childArtInertia
	)

private

◆ addChildArtInertiaImplicitToKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildArtInertiaImplicitToKinematic	(	Eigen::Matrix6d &	parentArtInertia,
		const Eigen::Matrix6d &	childArtInertia
	)

private

◆ addChildArtInertiaTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildArtInertiaTo	(	Eigen::Matrix6d &	parentArtInertia,
		const Eigen::Matrix6d &	childArtInertia
	)

overrideprotected

◆ addChildArtInertiaToDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildArtInertiaToDynamic	(	Eigen::Matrix6d &	parentArtInertia,
		const Eigen::Matrix6d &	childArtInertia
	)

private

◆ addChildArtInertiaToKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildArtInertiaToKinematic	(	Eigen::Matrix6d &	parentArtInertia,
		const Eigen::Matrix6d &	childArtInertia
	)

private

◆ addChildBiasForceForInvAugMassMatrix()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildBiasForceForInvAugMassMatrix	(	Eigen::Vector6d &	parentBiasForce,
		const Eigen::Matrix6d &	childArtInertia,
		const Eigen::Vector6d &	childBiasForce
	)

overrideprotected

◆ addChildBiasForceForInvMassMatrix()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildBiasForceForInvMassMatrix	(	Eigen::Vector6d &	parentBiasForce,
		const Eigen::Matrix6d &	childArtInertia,
		const Eigen::Vector6d &	childBiasForce
	)

overrideprotected

◆ addChildBiasForceTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildBiasForceTo	(	Eigen::Vector6d &	parentBiasForce,
		const Eigen::Matrix6d &	childArtInertia,
		const Eigen::Vector6d &	childBiasForce,
		const Eigen::Vector6d &	childPartialAcc
	)

overrideprotected

◆ addChildBiasForceToDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildBiasForceToDynamic	(	Eigen::Vector6d &	parentBiasForce,
		const Eigen::Matrix6d &	childArtInertia,
		const Eigen::Vector6d &	childBiasForce,
		const Eigen::Vector6d &	childPartialAcc
	)

private

◆ addChildBiasForceToKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildBiasForceToKinematic	(	Eigen::Vector6d &	parentBiasForce,
		const Eigen::Matrix6d &	childArtInertia,
		const Eigen::Vector6d &	childBiasForce,
		const Eigen::Vector6d &	childPartialAcc
	)

private

◆ addChildBiasImpulseTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildBiasImpulseTo	(	Eigen::Vector6d &	parentBiasImpulse,
		const Eigen::Matrix6d &	childArtInertia,
		const Eigen::Vector6d &	childBiasImpulse
	)

overrideprotected

◆ addChildBiasImpulseToDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildBiasImpulseToDynamic	(	Eigen::Vector6d &	parentBiasImpulse,
		const Eigen::Matrix6d &	childArtInertia,
		const Eigen::Vector6d &	childBiasImpulse
	)

private

◆ addChildBiasImpulseToKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addChildBiasImpulseToKinematic	(	Eigen::Vector6d &	parentBiasImpulse,
		const Eigen::Matrix6d &	childArtInertia,
		const Eigen::Vector6d &	childBiasImpulse
	)

private

◆ addInvMassMatrixSegmentTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addInvMassMatrixSegmentTo ( Eigen::Vector6d & acc )

overrideprotected

◆ addVelocityChangeTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addVelocityChangeTo ( Eigen::Vector6d & velocityChange )

overrideprotected

◆ addVelocityTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::addVelocityTo ( Eigen::Vector6d & vel )

overrideprotected

◆ computePotentialEnergy()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::computePotentialEnergy

override

◆ copy() [1/2]

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::copy ( const ThisClass & otherJoint )

Copy the Properties of another GenericJoint.

◆ copy() [2/2]

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::copy ( const ThisClass * otherJoint )

Copy the Properties of another GenericJoint.

◆ createGenericJointAspect()

template<class ConfigSpaceT >

template<typename ... Args>

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

inline

Construct a(an) GenericJointAspect inside of this Composite.

◆ getAcceleration()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getAcceleration ( std::size_t index ) const

override

◆ getAccelerationLowerLimit()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getAccelerationLowerLimit ( std::size_t index ) const

override

◆ getAccelerationLowerLimits()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getAccelerationLowerLimits

override

◆ getAccelerations()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getAccelerations

override

◆ getAccelerationsStatic()

template<class ConfigSpaceT >

const GenericJoint< ConfigSpaceT >::Vector & dart::dynamics::GenericJoint< ConfigSpaceT >::getAccelerationsStatic

Fixed-size version of getAccelerations()

◆ getAccelerationUpperLimit()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getAccelerationUpperLimit ( std::size_t index ) const

override

◆ getAccelerationUpperLimits()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getAccelerationUpperLimits

override

◆ getAspectProperties()

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

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

inlineinherited

◆ getAspectState()

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

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

inlineinherited

◆ getBodyConstraintWrench()

template<class ConfigSpaceT >

Eigen::Vector6d dart::dynamics::GenericJoint< ConfigSpaceT >::getBodyConstraintWrench

override

◆ getCommand()

template<class ConfigSpaceT >

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

override

◆ getCommands()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getCommands

override

◆ getConstraintImpulse()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getConstraintImpulse ( std::size_t index ) const

override

◆ getCoulombFriction()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getCoulombFriction ( std::size_t index ) const

override

◆ getDampingCoefficient()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getDampingCoefficient ( std::size_t index ) const

override

◆ getDof() [1/2]

template<class ConfigSpaceT >

const DegreeOfFreedom* dart::dynamics::GenericJoint< ConfigSpaceT >::getDof ( std::size_t _index ) const

override

◆ getDof() [2/2]

template<class ConfigSpaceT >

DegreeOfFreedom* dart::dynamics::GenericJoint< ConfigSpaceT >::getDof ( std::size_t index )

override

◆ getDofName()

template<class ConfigSpaceT >

const std::string & dart::dynamics::GenericJoint< ConfigSpaceT >::getDofName ( size_t index ) const

override

◆ getForce()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getForce ( std::size_t index ) const

override

◆ getForceLowerLimit()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getForceLowerLimit ( std::size_t index ) const

override

◆ getForceLowerLimits()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getForceLowerLimits

override

◆ getForces()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getForces

override

◆ getForceUpperLimit()

template<class ConfigSpaceT >

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

override

◆ getForceUpperLimits()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getForceUpperLimits

override

◆ getGenericJointAspect() [1/3]

template<class ConfigSpaceT >

ThisClass::Aspect* dart::dynamics::GenericJoint< ConfigSpaceT >::getGenericJointAspect ( )

inline

Get a(an) GenericJointAspect from this Composite.

◆ getGenericJointAspect() [2/3]

template<class ConfigSpaceT >

const ThisClass::Aspect* dart::dynamics::GenericJoint< ConfigSpaceT >::getGenericJointAspect ( ) const

inline

Get a(an) GenericJointAspect from this Composite.

◆ getGenericJointAspect() [3/3]

template<class ConfigSpaceT >

ThisClass::Aspect* dart::dynamics::GenericJoint< ConfigSpaceT >::getGenericJointAspect ( const bool createIfNull )

inline

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()

template<class ConfigSpaceT >

GenericJoint< ConfigSpaceT >::Properties dart::dynamics::GenericJoint< ConfigSpaceT >::getGenericJointProperties

Get the Properties of this GenericJoint.

◆ getIndexInSkeleton()

template<class ConfigSpaceT >

size_t dart::dynamics::GenericJoint< ConfigSpaceT >::getIndexInSkeleton ( size_t index ) const

override

◆ getIndexInTree()

template<class ConfigSpaceT >

size_t dart::dynamics::GenericJoint< ConfigSpaceT >::getIndexInTree ( size_t index ) const

override

◆ getInitialPosition()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getInitialPosition ( std::size_t index ) const

override

◆ getInitialPositions()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getInitialPositions

override

◆ getInitialVelocities()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getInitialVelocities

override

◆ getInitialVelocity()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getInitialVelocity ( std::size_t index ) const

override

◆ getInvAugMassMatrixSegment()

template<class ConfigSpaceT >

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

overrideprotected

◆ getInvMassMatrixSegment()

template<class ConfigSpaceT >

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

overrideprotected

◆ getInvProjArtInertia()

template<class ConfigSpaceT >

const GenericJoint< ConfigSpaceT >::Matrix & dart::dynamics::GenericJoint< ConfigSpaceT >::getInvProjArtInertia

protected

Get the inverse of the projected articulated inertia.

◆ getInvProjArtInertiaImplicit()

template<class ConfigSpaceT >

const GenericJoint< ConfigSpaceT >::Matrix & dart::dynamics::GenericJoint< ConfigSpaceT >::getInvProjArtInertiaImplicit

protected

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

◆ getNumDofs()

template<class ConfigSpaceT >

size_t dart::dynamics::GenericJoint< ConfigSpaceT >::getNumDofs

override

◆ getPosition()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getPosition ( std::size_t index ) const

override

◆ getPositionDifferences()

template<class ConfigSpaceT >

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

override

◆ getPositionDifferencesStatic()

template<class ConfigSpaceT >

ConfigSpaceT::Vector dart::dynamics::GenericJoint< ConfigSpaceT >::getPositionDifferencesStatic	(	const Vector &	q2,
		const Vector &	q1
	)		const

virtual

Fixed-size version of getPositionDifferences()

◆ getPositionLowerLimit()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getPositionLowerLimit ( std::size_t index ) const

override

◆ getPositionLowerLimits()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getPositionLowerLimits

override

◆ getPositions()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getPositions

override

◆ getPositionsStatic()

template<class ConfigSpaceT >

const GenericJoint< ConfigSpaceT >::Vector & dart::dynamics::GenericJoint< ConfigSpaceT >::getPositionsStatic

Fixed-size version of getPositions()

◆ getPositionUpperLimit()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getPositionUpperLimit ( std::size_t index ) const

override

◆ getPositionUpperLimits()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getPositionUpperLimits

override

◆ getRelativeJacobian() [1/2]

template<class ConfigSpaceT >

const math::Jacobian dart::dynamics::GenericJoint< ConfigSpaceT >::getRelativeJacobian

override

◆ getRelativeJacobian() [2/2]

template<class ConfigSpaceT >

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

override

◆ getRelativeJacobianStatic() [1/2]

template<class ConfigSpaceT >

const GenericJoint< ConfigSpaceT >::JacobianMatrix & dart::dynamics::GenericJoint< ConfigSpaceT >::getRelativeJacobianStatic

Fixed-size version of getRelativeJacobian()

◆ getRelativeJacobianStatic() [2/2]

template<class ConfigSpaceT >

virtual JacobianMatrix dart::dynamics::GenericJoint< ConfigSpaceT >::getRelativeJacobianStatic ( const Vector & positions ) const

pure virtual

Fixed-size version of getRelativeJacobian(positions)

◆ getRelativeJacobianTimeDeriv()

template<class ConfigSpaceT >

const math::Jacobian dart::dynamics::GenericJoint< ConfigSpaceT >::getRelativeJacobianTimeDeriv

override

◆ getRelativeJacobianTimeDerivStatic()

template<class ConfigSpaceT >

const GenericJoint< ConfigSpaceT >::JacobianMatrix & dart::dynamics::GenericJoint< ConfigSpaceT >::getRelativeJacobianTimeDerivStatic

Fixed-size version of getRelativeJacobianTimeDeriv()

◆ getRestPosition()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getRestPosition ( std::size_t index ) const

override

◆ getSpatialToGeneralized()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getSpatialToGeneralized ( const Eigen::Vector6d & spatial )

overrideprotected

◆ getSpringStiffness()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getSpringStiffness ( std::size_t index ) const

override

◆ getVelocities()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getVelocities

override

◆ getVelocitiesStatic()

template<class ConfigSpaceT >

const GenericJoint< ConfigSpaceT >::Vector & dart::dynamics::GenericJoint< ConfigSpaceT >::getVelocitiesStatic

Fixed-size version of getVelocities()

◆ getVelocity()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getVelocity ( std::size_t index ) const

override

◆ getVelocityChange()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getVelocityChange ( std::size_t index ) const

override

◆ getVelocityLowerLimit()

template<class ConfigSpaceT >

double dart::dynamics::GenericJoint< ConfigSpaceT >::getVelocityLowerLimit ( std::size_t index ) const

override

◆ getVelocityLowerLimits()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getVelocityLowerLimits

override

◆ getVelocityUpperLimit()

template<class ConfigSpaceT >

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

override

◆ getVelocityUpperLimits()

template<class ConfigSpaceT >

Eigen::VectorXd dart::dynamics::GenericJoint< ConfigSpaceT >::getVelocityUpperLimits

override

◆ hasGenericJointAspect()

template<class ConfigSpaceT >

bool dart::dynamics::GenericJoint< ConfigSpaceT >::hasGenericJointAspect ( ) const

inline

Check if this Composite currently has GenericJointAspect .

◆ hasPositionLimit()

template<class ConfigSpaceT >

bool dart::dynamics::GenericJoint< ConfigSpaceT >::hasPositionLimit ( std::size_t index ) const

override

◆ integratePositions()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::integratePositions ( double dt )

override

◆ integrateVelocities()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::integrateVelocities ( double dt )

override

◆ isDofNamePreserved()

template<class ConfigSpaceT >

bool dart::dynamics::GenericJoint< ConfigSpaceT >::isDofNamePreserved ( size_t index ) const

override

◆ operator=()

template<class ConfigSpaceT >

GenericJoint< ConfigSpaceT > & dart::dynamics::GenericJoint< ConfigSpaceT >::operator= ( const ThisClass & other )

Same as copy(const GenericJoint&)

◆ preserveDofName()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::preserveDofName	(	size_t	index,
		bool	preserve
	)

override

◆ registerDofs()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::registerDofs

overrideprotected

◆ releaseGenericJointAspect()

template<class ConfigSpaceT >

std::unique_ptr< typename ThisClass::Aspect > dart::dynamics::GenericJoint< ConfigSpaceT >::releaseGenericJointAspect ( )

inline

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()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::removeGenericJointAspect ( )

inline

Remove a(an) GenericJointAspect from this Composite.

◆ resetAccelerations()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetAccelerations

override

◆ resetCommands()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetCommands

override

◆ resetConstraintImpulses()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetConstraintImpulses

override

◆ resetForces()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetForces

override

◆ resetPosition()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetPosition ( std::size_t index )

override

◆ resetPositions()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetPositions

override

◆ resetTotalImpulses()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetTotalImpulses

overrideprotected

◆ resetVelocities()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetVelocities

override

◆ resetVelocity()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetVelocity ( std::size_t index )

override

◆ resetVelocityChanges()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::resetVelocityChanges

override

◆ setAcceleration()

template<class ConfigSpaceT >

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

override

◆ setAccelerationLowerLimit()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setAccelerationLowerLimit	(	size_t	index,
		double	acceleration
	)

override

◆ setAccelerationLowerLimits()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setAccelerationLowerLimits ( const Eigen::VectorXd & lowerLimits )

override

◆ setAccelerations()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setAccelerations ( const Eigen::VectorXd & accelerations )

override

◆ setAccelerationsStatic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setAccelerationsStatic ( const Vector & accels )

Fixed-size version of setAccelerations()

◆ setAccelerationUpperLimit()

template<class ConfigSpaceT >

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

override

◆ setAccelerationUpperLimits()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setAccelerationUpperLimits ( const Eigen::VectorXd & upperLimits )

override

◆ setAspectProperties()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setAspectProperties ( const AspectProperties & properties )

Set the AspectProperties of this GenericJoint.

◆ setAspectState()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setAspectState ( const AspectState & state )

Set the AspectState of this GenericJoint.

◆ setCommand()

template<class ConfigSpaceT >

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

override

◆ setCommands()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setCommands ( const Eigen::VectorXd & commands )

override

◆ setConstraintImpulse()

template<class ConfigSpaceT >

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

override

◆ setCoulombFriction()

template<class ConfigSpaceT >

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

override

◆ setDampingCoefficient()

template<class ConfigSpaceT >

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

override

◆ setDofName()

template<class ConfigSpaceT >

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

override

◆ setForce()

template<class ConfigSpaceT >

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

override

◆ setForceLowerLimit()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setForceLowerLimit	(	size_t	index,
		double	force
	)

override

◆ setForceLowerLimits()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setForceLowerLimits ( const Eigen::VectorXd & lowerLimits )

override

◆ setForces()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setForces ( const Eigen::VectorXd & forces )

override

◆ setForceUpperLimit()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setForceUpperLimit	(	size_t	index,
		double	force
	)

override

◆ setForceUpperLimits()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setForceUpperLimits ( const Eigen::VectorXd & upperLimits )

override

◆ setGenericJointAspect() [1/2]

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setGenericJointAspect ( const typename ThisClass::Aspect * aspect )

inline

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]

template<class ConfigSpaceT >

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

inline

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()

template<class ConfigSpaceT >

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

override

◆ setInitialPositions()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setInitialPositions ( const Eigen::VectorXd & initial )

override

◆ setInitialVelocities()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setInitialVelocities ( const Eigen::VectorXd & initial )

override

◆ setInitialVelocity()

template<class ConfigSpaceT >

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

override

◆ setPartialAccelerationTo()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setPartialAccelerationTo	(	Eigen::Vector6d &	partialAcceleration,
		const Eigen::Vector6d &	childVelocity
	)

overrideprotected

◆ setPosition()

template<class ConfigSpaceT >

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

override

◆ setPositionLowerLimit()

template<class ConfigSpaceT >

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

override

◆ setPositionLowerLimits()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setPositionLowerLimits ( const Eigen::VectorXd & lowerLimits )

override

◆ setPositions()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setPositions ( const Eigen::VectorXd & positions )

override

◆ setPositionsStatic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setPositionsStatic ( const Vector & positions )

Fixed-size version of setPositions()

◆ setPositionUpperLimit()

template<class ConfigSpaceT >

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

override

◆ setPositionUpperLimits()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setPositionUpperLimits ( const Eigen::VectorXd & upperLimits )

override

◆ setProperties() [1/2]

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setProperties ( const Properties & properties )

Set the Properties of this GenericJoint.

◆ setProperties() [2/2]

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setProperties ( const UniqueProperties & properties )

Set the Properties of this GenericJoint.

◆ setRestPosition()

template<class ConfigSpaceT >

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

override

◆ setSpringStiffness()

template<class ConfigSpaceT >

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

override

◆ setVelocities()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setVelocities ( const Eigen::VectorXd & velocities )

override

◆ setVelocitiesStatic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setVelocitiesStatic ( const Vector & velocities )

Fixed-size version of setVelocities()

◆ setVelocity()

template<class ConfigSpaceT >

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

override

◆ setVelocityChange()

template<class ConfigSpaceT >

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

override

◆ setVelocityLowerLimit()

template<class ConfigSpaceT >

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

override

◆ setVelocityLowerLimits()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setVelocityLowerLimits ( const Eigen::VectorXd & lowerLimits )

override

◆ setVelocityUpperLimit()

template<class ConfigSpaceT >

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

override

◆ setVelocityUpperLimits()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::setVelocityUpperLimits ( const Eigen::VectorXd & upperLimits )

override

◆ updateAcceleration()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateAcceleration	(	const Eigen::Matrix6d &	artInertia,
		const Eigen::Vector6d &	spatialAcc
	)

overrideprotected

◆ updateAccelerationDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateAccelerationDynamic	(	const Eigen::Matrix6d &	artInertia,
		const Eigen::Vector6d &	spatialAcc
	)

private

◆ updateAccelerationKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateAccelerationKinematic	(	const Eigen::Matrix6d &	artInertia,
		const Eigen::Vector6d &	spatialAcc
	)

private

◆ updateConstrainedTerms()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateConstrainedTerms ( double timeStep )

overrideprotected

◆ updateConstrainedTermsDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateConstrainedTermsDynamic ( double timeStep )

private

◆ updateConstrainedTermsKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateConstrainedTermsKinematic ( double timeStep )

private

◆ updateForceFD()

template<class ConfigSpaceT >

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

overrideprotected

◆ updateForceID()

template<class ConfigSpaceT >

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

overrideprotected

◆ updateImpulseFD()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateImpulseFD ( const Eigen::Vector6d & bodyImpulse )

overrideprotected

◆ updateImpulseID()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateImpulseID ( const Eigen::Vector6d & bodyImpulse )

overrideprotected

◆ updateInvProjArtInertia()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateInvProjArtInertia ( const Eigen::Matrix6d & artInertia )

overrideprotected

◆ updateInvProjArtInertiaDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateInvProjArtInertiaDynamic ( const Eigen::Matrix6d & artInertia )

private

◆ updateInvProjArtInertiaImplicit()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateInvProjArtInertiaImplicit	(	const Eigen::Matrix6d &	artInertia,
		double	timeStep
	)

overrideprotected

◆ updateInvProjArtInertiaImplicitDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateInvProjArtInertiaImplicitDynamic	(	const Eigen::Matrix6d &	artInertia,
		double	timeStep
	)

private

◆ updateInvProjArtInertiaImplicitKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateInvProjArtInertiaImplicitKinematic	(	const Eigen::Matrix6d &	artInertia,
		double	timeStep
	)

private

◆ updateInvProjArtInertiaKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateInvProjArtInertiaKinematic ( const Eigen::Matrix6d & artInertia )

private

◆ updateRelativePrimaryAcceleration()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateRelativePrimaryAcceleration

overrideprotected

◆ updateRelativeSpatialAcceleration()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateRelativeSpatialAcceleration

overrideprotected

◆ updateRelativeSpatialVelocity()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateRelativeSpatialVelocity

overrideprotected

◆ updateTotalForce()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateTotalForce	(	const Eigen::Vector6d &	bodyForce,
		double	timeStep
	)

overrideprotected

◆ updateTotalForceDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateTotalForceDynamic	(	const Eigen::Vector6d &	bodyForce,
		double	timeStep
	)

private

◆ updateTotalForceForInvMassMatrix()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateTotalForceForInvMassMatrix ( const Eigen::Vector6d & bodyForce )

overrideprotected

◆ updateTotalForceKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateTotalForceKinematic	(	const Eigen::Vector6d &	bodyForce,
		double	timeStep
	)

private

◆ updateTotalImpulse()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateTotalImpulse ( const Eigen::Vector6d & bodyImpulse )

overrideprotected

◆ updateTotalImpulseDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateTotalImpulseDynamic ( const Eigen::Vector6d & bodyImpulse )

private

◆ updateTotalImpulseKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateTotalImpulseKinematic ( const Eigen::Vector6d & bodyImpulse )

private

◆ updateVelocityChange()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateVelocityChange	(	const Eigen::Matrix6d &	artInertia,
		const Eigen::Vector6d &	velocityChange
	)

overrideprotected

◆ updateVelocityChangeDynamic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateVelocityChangeDynamic	(	const Eigen::Matrix6d &	artInertia,
		const Eigen::Vector6d &	velocityChange
	)

private

◆ updateVelocityChangeKinematic()

template<class ConfigSpaceT >

void dart::dynamics::GenericJoint< ConfigSpaceT >::updateVelocityChangeKinematic	(	const Eigen::Matrix6d &	artInertia,
		const Eigen::Vector6d &	velocityChange
	)

private

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

template<class ConfigSpaceT >

Vector dart::dynamics::GenericJoint< ConfigSpaceT >::mConstraintImpulses

protected

Generalized constraint impulse.

◆ mDofs

template<class ConfigSpaceT >

std::array<DegreeOfFreedom*, NumDofs> dart::dynamics::GenericJoint< ConfigSpaceT >::mDofs

protected

Array of DegreeOfFreedom objects.

◆ mImpulses

template<class ConfigSpaceT >

Vector dart::dynamics::GenericJoint< ConfigSpaceT >::mImpulses

protected

Generalized impulse.

◆ mInvM_a

template<class ConfigSpaceT >

Vector dart::dynamics::GenericJoint< ConfigSpaceT >::mInvM_a

protected

◆ mInvMassMatrixSegment

template<class ConfigSpaceT >

Vector dart::dynamics::GenericJoint< ConfigSpaceT >::mInvMassMatrixSegment

protected

◆ mInvProjArtInertia

template<class ConfigSpaceT >

Matrix dart::dynamics::GenericJoint< ConfigSpaceT >::mInvProjArtInertia

mutableprotected

Inverse of projected articulated inertia.

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

◆ mInvProjArtInertiaImplicit

template<class ConfigSpaceT >

Matrix dart::dynamics::GenericJoint< ConfigSpaceT >::mInvProjArtInertiaImplicit

mutableprotected

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

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

◆ mJacobian

template<class ConfigSpaceT >

JacobianMatrix dart::dynamics::GenericJoint< ConfigSpaceT >::mJacobian

mutableprotected

Spatial Jacobian expressed in the child body frame.

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

◆ mJacobianDeriv

template<class ConfigSpaceT >

JacobianMatrix dart::dynamics::GenericJoint< ConfigSpaceT >::mJacobianDeriv

mutableprotected

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

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

◆ mTotalForce

template<class ConfigSpaceT >

Vector dart::dynamics::GenericJoint< ConfigSpaceT >::mTotalForce

protected

Total force projected on joint space.

◆ mTotalImpulse

template<class ConfigSpaceT >

Vector dart::dynamics::GenericJoint< ConfigSpaceT >::mTotalImpulse

protected

Total impluse projected on joint space.

◆ mVelocityChanges

template<class ConfigSpaceT >

Vector dart::dynamics::GenericJoint< ConfigSpaceT >::mVelocityChanges

protected

Change of generalized velocity.

◆ NumDofs

template<class ConfigSpaceT >

constexpr size_t dart::dynamics::GenericJoint< ConfigSpaceT >::NumDofs = ConfigSpaceT::NumDofs

staticconstexpr

Public Types

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Recursive dynamics routines

Member Typedef Documentation

◆ Aspect

◆ AspectProperties

◆ AspectPropertiesData

◆ AspectState

◆ AspectStateData

◆ Base

◆ Derived

◆ EuclideanPoint

◆ Impl

◆ JacobianMatrix

◆ Matrix

◆ Point

◆ Properties

◆ ThisClass

◆ UniqueProperties

◆ Vector

Constructor & Destructor Documentation

◆ GenericJoint() [1/2]

◆ ~GenericJoint()

◆ GenericJoint() [2/2]

Member Function Documentation

◆ addAccelerationTo()

◆ addChildArtInertiaImplicitTo()

◆ addChildArtInertiaImplicitToDynamic()

◆ addChildArtInertiaImplicitToKinematic()

◆ addChildArtInertiaTo()

◆ addChildArtInertiaToDynamic()

◆ addChildArtInertiaToKinematic()

◆ addChildBiasForceForInvAugMassMatrix()

◆ addChildBiasForceForInvMassMatrix()

◆ addChildBiasForceTo()

◆ addChildBiasForceToDynamic()

◆ addChildBiasForceToKinematic()

◆ addChildBiasImpulseTo()

◆ addChildBiasImpulseToDynamic()

◆ addChildBiasImpulseToKinematic()

◆ addInvMassMatrixSegmentTo()

◆ addVelocityChangeTo()

◆ addVelocityTo()

◆ computePotentialEnergy()

◆ copy() [1/2]

◆ copy() [2/2]

◆ createGenericJointAspect()

◆ getAcceleration()

◆ getAccelerationLowerLimit()

◆ getAccelerationLowerLimits()

◆ getAccelerations()

◆ getAccelerationsStatic()

◆ getAccelerationUpperLimit()

◆ getAccelerationUpperLimits()

◆ getAspectProperties()

◆ getAspectState()

◆ getBodyConstraintWrench()

◆ getCommand()

◆ getCommands()

◆ getConstraintImpulse()

◆ getCoulombFriction()

◆ getDampingCoefficient()

◆ getDof() [1/2]

◆ getDof() [2/2]

◆ getDofName()

◆ getForce()

◆ getForceLowerLimit()

◆ getForceLowerLimits()

◆ getForces()

◆ getForceUpperLimit()

◆ getForceUpperLimits()

◆ getGenericJointAspect() [1/3]

◆ getGenericJointAspect() [2/3]

◆ getGenericJointAspect() [3/3]

◆ getGenericJointProperties()

◆ getIndexInSkeleton()

◆ getIndexInTree()