The JacobianNode class serves as a common interface for BodyNodes and EndEffectors to both be used as references for IK modules. More...

#include <JacobianNode.hpp>

Inheritance diagram for dart::dynamics::JacobianNode:

Public Types
using	EntitySignal = common::Signal< void(const Entity *)>

using	FrameChangedSignal = common::Signal< void(const Entity , const Frame _oldFrame, const Frame *_newFrame)>

using	NameChangedSignal = common::Signal< void(const Entity *, const std::string &_oldName, const std::string &_newName)>

template<class Mixin >
using	MakeState = common::MakeCloneable< State, Mixin >
	Use the MakeState class to easily create a State extension from an existing class or struct. More...

template<class Mixin >
using	MakeProperties = common::MakeCloneable< Properties, Mixin >
	Use the MakeProperties class to easily create a Properties extension from an existing class or struct. More...

Public Member Functions
virtual	~JacobianNode ()
	Virtual destructor. More...

const std::shared_ptr< InverseKinematics > &	getIK (bool _createIfNull=false)
	Get a pointer to an IK module for this JacobianNode. More...

const std::shared_ptr< InverseKinematics > &	getOrCreateIK ()
	Get a pointer to an IK module for this JacobianNode. More...

std::shared_ptr< const InverseKinematics >	getIK () const
	Get a pointer to an IK module for this JacobianNode. More...

const std::shared_ptr< InverseKinematics > &	createIK ()
	Create a new IK module for this JacobianNode. More...

void	clearIK ()
	Wipe away the IK module for this JacobianNode, leaving it as a nullptr. More...

void	notifyJacobianUpdate ()
	Notify this BodyNode and all its descendents that their Jacobians need to be updated. More...

void	dirtyJacobian ()
	Notify this BodyNode and all its descendents that their Jacobians need to be updated. More...

void	notifyJacobianDerivUpdate ()
	Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated. More...

void	dirtyJacobianDeriv ()
	Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated. More...

virtual const std::string &	setName (const std::string &newName)=0
	Set the name of this Node. More...

virtual const std::string &	getName () const=0
	Get the name of this Node. More...

virtual const Eigen::Isometry3d &	getRelativeTransform () const =0
	Get the transform of this Frame with respect to its parent Frame. More...

const Eigen::Isometry3d &	getWorldTransform () const
	Get the transform of this Frame with respect to the World Frame. More...

Eigen::Isometry3d	getTransform (const Frame *_withRespectTo=Frame::World()) const
	Get the transform of this Frame with respect to some other Frame. More...

Eigen::Isometry3d	getTransform (const Frame withRespectTo, const Frame inCoordinatesOf) const
	Get the transform of this Frame with respect to some other Frame. More...

virtual const Eigen::Vector6d &	getRelativeSpatialVelocity () const =0
	Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates. More...

const Eigen::Vector6d &	getSpatialVelocity () const
	Get the total spatial velocity of this Frame in the coordinates of this Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial velocity of this Frame relative to some other Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Eigen::Vector3d &_offset) const
	Get the spatial velocity of a fixed point in this Frame. More...

Eigen::Vector6d	getSpatialVelocity (const Eigen::Vector3d &_offset, const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial velocity of a fixed point in this Frame. More...

Eigen::Vector3d	getLinearVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear portion of classical velocity of this Frame relative to some other Frame. More...

Eigen::Vector3d	getLinearVelocity (const Eigen::Vector3d &_offset, const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear velocity of a point that is fixed in this Frame. More...

Eigen::Vector3d	getAngularVelocity (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the angular portion of classical velocity of this Frame relative to some other Frame. More...

virtual const Eigen::Vector6d &	getRelativeSpatialAcceleration () const =0
	Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame. More...

virtual const Eigen::Vector6d &	getPrimaryRelativeAcceleration () const =0
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration(). More...

virtual const Eigen::Vector6d &	getPartialAcceleration () const =0
	The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration. More...

const Eigen::Vector6d &	getSpatialAcceleration () const
	Get the total spatial acceleration of this Frame in the coordinates of this Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial acceleration of this Frame relative to some other Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Eigen::Vector3d &_offset) const
	Get the spatial acceleration of a fixed point in this Frame. More...

Eigen::Vector6d	getSpatialAcceleration (const Eigen::Vector3d &_offset, const Frame _relativeTo, const Frame _inCoordinatesOf) const
	Get the spatial acceleration of a fixed point in this Frame. More...

Eigen::Vector3d	getLinearAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the linear portion of classical acceleration of this Frame relative to some other Frame. More...

Eigen::Vector3d	getLinearAcceleration (const Eigen::Vector3d &_offset, const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const

Eigen::Vector3d	getAngularAcceleration (const Frame _relativeTo=Frame::World(), const Frame _inCoordinatesOf=Frame::World()) const
	Get the angular portion of classical acceleration of this Frame relative to some other Frame. More...

const std::set< Entity * > &	getChildEntities ()
	Get a container with the Entities that are children of this Frame. More...

const std::set< const Entity * >	getChildEntities () const
	Get a container with the Entities that are children of this Frame. More...

std::size_t	getNumChildEntities () const
	Get the number of Entities that are currently children of this Frame. More...

const std::set< Frame * > &	getChildFrames ()
	Get a container with the Frames that are children of this Frame. More...

std::set< const Frame * >	getChildFrames () const
	Get a container with the Frames that are children of this Frame. More...

std::size_t	getNumChildFrames () const
	Get the number of Frames that are currently children of this Frame. More...

bool	isShapeFrame () const
	Returns true if this Frame is a ShapeFrame. More...

virtual ShapeFrame *	asShapeFrame ()
	Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...

virtual const ShapeFrame *	asShapeFrame () const
	Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr. More...

bool	isWorld () const
	Returns true if this Frame is the World Frame. More...

virtual void	dirtyTransform () override
	Notify the transformation updates of this Frame and all its children are needed. More...

virtual void	dirtyVelocity () override
	Notify the velocity updates of this Frame and all its children are needed. More...

virtual void	dirtyAcceleration () override
	Notify the acceleration updates of this Frame and all its children are needed. More...

virtual const std::string &	setName (const std::string &_name)=0
	Set name. More...

virtual const std::string &	getName () const =0
	Return the name of this Entity. More...

Frame *	getParentFrame ()
	Get the parent (reference) frame of this Entity. More...

const Frame *	getParentFrame () const
	Get the parent (reference) frame of this Entity. More...

bool	descendsFrom (const Frame *_someFrame) const
	True if and only if this Entity depends on (i.e. More...

bool	isFrame () const
	True iff this Entity is also a Frame. More...

bool	isQuiet () const
	Returns true if this Entity is set to be quiet. More...

virtual void	notifyTransformUpdate ()
	Notify the transformation update of this Entity that its parent Frame's pose is needed. More...

bool	needsTransformUpdate () const
	Returns true iff a transform update is needed for this Entity. More...

virtual void	notifyVelocityUpdate ()
	Notify the velocity update of this Entity that its parent Frame's velocity is needed. More...

bool	needsVelocityUpdate () const
	Returns true iff a velocity update is needed for this Entity. More...

virtual void	notifyAccelerationUpdate ()
	Notify the acceleration of this Entity that its parent Frame's acceleration is needed. More...

bool	needsAccelerationUpdate () const
	Returns true iff an acceleration update is needed for this Entity. More...

virtual const std::string &	setName (const std::string &newName)=0
	Set the name of this Node. More...

virtual const std::string &	getName () const =0
	Get the name of this Node. More...

virtual void	setNodeState (const State &otherState)
	Set the State of this Node. By default, this does nothing. More...

virtual std::unique_ptr< State >	getNodeState () const
	Get the State of this Node. More...

virtual void	copyNodeStateTo (std::unique_ptr< State > &outputState) const
	Copy the State of this Node into a unique_ptr. More...

virtual void	setNodeProperties (const Properties &properties)
	Set the Properties of this Node. By default, this does nothing. More...

virtual std::unique_ptr< Properties >	getNodeProperties () const
	Get the Properties of this Node. More...

virtual void	copyNodePropertiesTo (std::unique_ptr< Properties > &outputProperties) const
	Copy the Properties of this Node into a unique_ptr. More...

BodyNodePtr	getBodyNodePtr ()
	Get a pointer to the BodyNode that this Node is associated with. More...

ConstBodyNodePtr	getBodyNodePtr () const
	Get a pointer to the BodyNode that this Node is associated with. More...

bool	isRemoved () const
	Returns true if this Node has been staged for removal from its BodyNode. More...

virtual std::shared_ptr< Skeleton >	getSkeleton ()
	Return the Skeleton that this Node is attached to. More...

virtual std::shared_ptr< const Skeleton >	getSkeleton () const
	Return the Skeleton that this Node is attached to. More...

virtual std::size_t	incrementVersion ()
	Increment the version for this object. More...

virtual std::size_t	getVersion () const
	Get the version number of this object. More...

Structural Properties
virtual bool	dependsOn (std::size_t _genCoordIndex) const =0
	Return true if _genCoordIndex-th generalized coordinate. More...

virtual std::size_t	getNumDependentGenCoords () const =0
	The number of the generalized coordinates which affect this JacobianNode. More...

virtual std::size_t	getDependentGenCoordIndex (std::size_t _arrayIndex) const =0
	Return a generalized coordinate index from the array index (< getNumDependentDofs) More...

virtual const std::vector< std::size_t > &	getDependentGenCoordIndices () const =0
	Indices of the generalized coordinates which affect this JacobianNode. More...

virtual std::size_t	getNumDependentDofs () const =0
	Same as getNumDependentGenCoords() More...

virtual DegreeOfFreedom *	getDependentDof (std::size_t _index)=0
	Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode. More...

virtual const DegreeOfFreedom *	getDependentDof (std::size_t _index) const =0
	Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode. More...

virtual const std::vector< DegreeOfFreedom * > &	getDependentDofs ()=0
	Return a std::vector of DegreeOfFreedom pointers that this Node depends on. More...

virtual const std::vector< const DegreeOfFreedom * > &	getDependentDofs () const =0
	Return a std::vector of DegreeOfFreedom pointers that this Node depends on. More...

virtual const std::vector< const DegreeOfFreedom * >	getChainDofs () const =0
	Returns a DegreeOfFreedom vector containing the dofs that form a Chain leading up to this JacobianNode from the root of the Skeleton. More...

Jacobian Functions
virtual const math::Jacobian &	getJacobian () const =0
	Return the generalized Jacobian targeting the origin of this JacobianNode. More...

virtual math::Jacobian	getJacobian (const Frame *_inCoordinatesOf) const =0
	A version of getJacobian() that lets you specify a coordinate Frame to express the Jacobian in. More...

virtual math::Jacobian	getJacobian (const Eigen::Vector3d &_offset) const =0
	Return the generalized Jacobian targeting an offset within the Frame of this JacobianNode. More...

virtual math::Jacobian	getJacobian (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf) const =0
	A version of getJacobian(const Eigen::Vector3d&) that lets you specify a coordinate Frame to express the Jacobian in. More...

virtual const math::Jacobian &	getWorldJacobian () const =0
	Return the generalized Jacobian targeting the origin of this JacobianNode. More...

virtual math::Jacobian	getWorldJacobian (const Eigen::Vector3d &_offset) const =0
	Return the generalized Jacobian targeting an offset in this JacobianNode. More...

virtual math::LinearJacobian	getLinearJacobian (const Frame *_inCoordinatesOf=Frame::World()) const =0
	Return the linear Jacobian targeting the origin of this BodyNode. More...

virtual math::LinearJacobian	getLinearJacobian (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const =0
	Return the generalized Jacobian targeting an offset within the Frame of this BodyNode. More...

virtual math::AngularJacobian	getAngularJacobian (const Frame *_inCoordinatesOf=Frame::World()) const =0
	Return the angular Jacobian targeting the origin of this BodyNode. More...

virtual const math::Jacobian &	getJacobianSpatialDeriv () const =0
	Return the spatial time derivative of the generalized Jacobian targeting the origin of this BodyNode. More...

virtual math::Jacobian	getJacobianSpatialDeriv (const Frame *_inCoordinatesOf) const =0
	A version of getJacobianSpatialDeriv() that can return the Jacobian in coordinates of any Frame. More...

virtual math::Jacobian	getJacobianSpatialDeriv (const Eigen::Vector3d &_offset) const =0
	Return the spatial time derivative of the generalized Jacobian targeting an offset in the Frame of this BodyNode. More...

virtual math::Jacobian	getJacobianSpatialDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf) const =0
	A version of getJacobianSpatialDeriv(const Eigen::Vector3d&) that allows an arbitrary coordinate Frame to be specified. More...

virtual const math::Jacobian &	getJacobianClassicDeriv () const =0
	Return the classical time derivative of the generalized Jacobian targeting the origin of this BodyNode. More...

virtual math::Jacobian	getJacobianClassicDeriv (const Frame *_inCoordinatesOf) const =0
	A version of getJacobianClassicDeriv() that can return the Jacobian in coordinates of any Frame. More...

virtual math::Jacobian	getJacobianClassicDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const =0
	A version of getJacobianClassicDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode. More...

virtual math::LinearJacobian	getLinearJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const =0
	Return the linear Jacobian (classical) time derivative, in terms of any coordinate Frame. More...

virtual math::LinearJacobian	getLinearJacobianDeriv (const Eigen::Vector3d &_offset, const Frame *_inCoordinatesOf=Frame::World()) const =0
	A version of getLinearJacobianDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode. More...

virtual math::AngularJacobian	getAngularJacobianDeriv (const Frame *_inCoordinatesOf=Frame::World()) const =0
	Return the angular Jacobian time derivative, in terms of any coordinate Frame. More...

Static Public Member Functions
static Frame *	World ()

Protected Types
enum	ConstructAbstractTag { ConstructAbstract }
	Used when constructing a pure abstract class, because calling the Frame constructor is just a formality. More...

enum	ConstructFrameTag { ConstructFrame }
	Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it. More...

Protected Member Functions
	JacobianNode (BodyNode *bn)
	Constructor. More...

virtual void	changeParentFrame (Frame *_newParentFrame) override
	Used by derived classes to change their parent frames. More...

virtual void	processNewEntity (Entity *_newChildEntity)
	Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways. More...

virtual void	processRemovedEntity (Entity *_oldChildEntity)
	Called when a child Entity is removed from its parent Frame. More...

void	sendDestructionNotification () const
	Send a destruction notification to all Observers. More...

void	addObserver (Observer *_observer) const
	Add an Observer to the list of Observers. More...

void	removeObserver (Observer *_observer) const
	Remove an Observer from the list of Observers. More...

virtual Node *	cloneNode (BodyNode *bn) const =0
	Allow your Node implementation to be cloned into a new BodyNode. More...

std::string	registerNameChange (const std::string &newName)
	Inform the Skeleton that the name of this Node has changed. More...

void	attach ()
	Attach the Node to its BodyNode. More...

void	stageForRemoval ()
	When all external references to the Node disappear, it will be deleted. More...

void	setVersionDependentObject (VersionCounter *dependent)

Protected Attributes
bool	mIsBodyJacobianDirty
	Dirty flag for body Jacobian. More...

bool	mIsWorldJacobianDirty
	Dirty flag for world Jacobian. More...

bool	mIsBodyJacobianSpatialDerivDirty
	Dirty flag for spatial time derivative of body Jacobian. More...

bool	mIsWorldJacobianClassicDerivDirty
	Dirty flag for the classic time derivative of the Jacobian. More...

std::shared_ptr< InverseKinematics >	mIK
	Inverse kinematics module which gets lazily created upon request. More...

std::unordered_set< JacobianNode * >	mChildJacobianNodes
	JacobianNode children that descend from this JacobianNode. More...

Eigen::Isometry3d	mWorldTransform
	World transform of this Frame. More...

Eigen::Vector6d	mVelocity
	Total velocity of this Frame, in the coordinates of this Frame. More...

Eigen::Vector6d	mAcceleration
	Total acceleration of this Frame, in the coordinates of this Frame. More...

std::set< Frame * >	mChildFrames
	Container of this Frame's child Frames. More...

std::set< Entity * >	mChildEntities
	Container of this Frame's child Entities. More...

Frame *	mParentFrame
	Parent frame of this Entity. More...

bool	mNeedTransformUpdate
	Does this Entity need a Transform update. More...

bool	mNeedVelocityUpdate
	Does this Entity need a Velocity update. More...

bool	mNeedAccelerationUpdate
	Does this Entity need an Acceleration update. More...

FrameChangedSignal	mFrameChangedSignal
	Frame changed signal. More...

NameChangedSignal	mNameChangedSignal
	Name changed signal. More...

EntitySignal	mTransformUpdatedSignal
	Transform changed signal. More...

EntitySignal	mVelocityChangedSignal
	Velocity changed signal. More...

EntitySignal	mAccelerationChangedSignal
	Acceleration changed signal. More...

std::set< Observer * >	mObservers
	List of current Observers. More...

std::weak_ptr< NodeDestructor >	mDestructor
	weak pointer to the destructor for this Node. More...

BodyNode *	mBodyNode
	Pointer to the BodyNode that this Node is attached to. More...

bool	mAmAttached
	bool that tracks whether this Node is attached to its BodyNode More...

std::size_t	mIndexInBodyNode
	The index of this Node within its vector in its BodyNode's NodeMap. More...

std::size_t	mIndexInSkeleton
	The index of this Node within its vector in its Skeleton's NodeMap. More...

std::size_t	mIndexInTree
	Index of this Node within its tree. More...

std::size_t	mVersion

Private Types
enum	ConstructWorldTag { ConstructWorld }
	Used when constructing the World. More...

Private Member Functions
std::shared_ptr< NodeDestructor >	getOrCreateDestructor ()

Private Attributes
const bool	mAmWorld
	Contains whether or not this is the World Frame. More...

bool	mAmShapeFrame
	Contains whether or not this is a ShapeFrame. More...

VersionCounter *	mDependent

Slot registers
const bool	mAmQuiet
	Whether or not this Entity is set to be quiet. More...

bool	mAmFrame
	Whether or not this Entity is a Frame. More...

common::SlotRegister< FrameChangedSignal >	onFrameChanged
	Slot register for frame changed signal. More...

common::SlotRegister< NameChangedSignal >	onNameChanged
	Slot register for name changed signal. More...

common::SlotRegister< EntitySignal >	onTransformUpdated
	Slot register for transform updated signal. More...

common::SlotRegister< EntitySignal >	onVelocityChanged
	Slot register for velocity updated signal. More...

common::SlotRegister< EntitySignal >	onAccelerationChanged
	Slot register for acceleration updated signal. More...

Detailed Description

The JacobianNode class serves as a common interface for BodyNodes and EndEffectors to both be used as references for IK modules.

This is a pure abstract class.

Member Typedef Documentation

◆ EntitySignal

using dart::dynamics::Entity::EntitySignal = common::Signal<void(const Entity*)>

inherited

◆ FrameChangedSignal

using dart::dynamics::Entity::FrameChangedSignal = common::Signal<void(const Entity*, const Frame* _oldFrame, const Frame* _newFrame)>

inherited

◆ MakeProperties

template<class Mixin >

using dart::dynamics::Node::MakeProperties = common::MakeCloneable<Properties, Mixin>

inherited

Use the MakeProperties class to easily create a Properties extension from an existing class or struct.

◆ MakeState

template<class Mixin >

using dart::dynamics::Node::MakeState = common::MakeCloneable<State, Mixin>

inherited

Use the MakeState class to easily create a State extension from an existing class or struct.

◆ NameChangedSignal

using dart::dynamics::Entity::NameChangedSignal = common::Signal<void(const Entity*, const std::string& _oldName, const std::string& _newName)>

inherited

Member Enumeration Documentation

◆ ConstructAbstractTag

enum dart::dynamics::Frame::ConstructAbstractTag

protectedinherited

Used when constructing a pure abstract class, because calling the Frame constructor is just a formality.

Enumerator
ConstructAbstract

◆ ConstructFrameTag

enum dart::dynamics::Entity::ConstructFrameTag

protectedinherited

Used when constructing a Frame class, because the Frame constructor will take care of setting up the parameters you pass into it.

Enumerator
ConstructFrame

◆ ConstructWorldTag

enum dart::dynamics::Frame::ConstructWorldTag

privateinherited

Used when constructing the World.

Enumerator
ConstructWorld

Constructor & Destructor Documentation

◆ ~JacobianNode()

dart::dynamics::JacobianNode::~JacobianNode ( )

virtual

Virtual destructor.

◆ JacobianNode()

dart::dynamics::JacobianNode::JacobianNode ( BodyNode * bn )

protected

Constructor.

Member Function Documentation

◆ addObserver()

void dart::common::Subject::addObserver ( Observer * _observer ) const

protectedinherited

Add an Observer to the list of Observers.

◆ asShapeFrame() [1/2]

ShapeFrame * dart::dynamics::Frame::asShapeFrame ( )

virtualinherited

Convert 'this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

Reimplemented in dart::dynamics::ShapeFrame.

◆ asShapeFrame() [2/2]

const ShapeFrame * dart::dynamics::Frame::asShapeFrame ( ) const

virtualinherited

Convert 'const this' into a ShapeFrame pointer if Frame is a ShapeFrame, otherwise return nullptr.

Reimplemented in dart::dynamics::ShapeFrame.

◆ attach()

void dart::dynamics::Node::attach ( )

protectedinherited

Attach the Node to its BodyNode.

◆ changeParentFrame()

void dart::dynamics::Frame::changeParentFrame ( Frame * _newParentFrame )

overrideprotectedvirtualinherited

Used by derived classes to change their parent frames.

Reimplemented from dart::dynamics::Entity.

◆ clearIK()

void dart::dynamics::JacobianNode::clearIK ( )

Wipe away the IK module for this JacobianNode, leaving it as a nullptr.

◆ cloneNode()

virtual Node* dart::dynamics::Node::cloneNode ( BodyNode * bn ) const

protectedpure virtualinherited

Allow your Node implementation to be cloned into a new BodyNode.

Implemented in dart::dynamics::BodyNode.

◆ copyNodePropertiesTo()

void dart::dynamics::Node::copyNodePropertiesTo ( std::unique_ptr< Properties > & outputProperties ) const

virtualinherited

Copy the Properties of this Node into a unique_ptr.

By default, this simply calls getNodeProperties() and passes the result into the outputProperties, but this function can be overriden to be more performant.

◆ copyNodeStateTo()

void dart::dynamics::Node::copyNodeStateTo ( std::unique_ptr< State > & outputState ) const

virtualinherited

Copy the State of this Node into a unique_ptr.

By default, this simply calls getNodeState() and passes the result into the outputState, but this function can be overriden to be more performant by avoiding allocations.

◆ createIK()

const std::shared_ptr< InverseKinematics > & dart::dynamics::JacobianNode::createIK ( )

Create a new IK module for this JacobianNode.

If an IK module already exists in this JacobianNode, it will be destroyed and replaced by a brand new one.

◆ dependsOn()

virtual bool dart::dynamics::JacobianNode::dependsOn ( std::size_t _genCoordIndex ) const

pure virtual

Return true if _genCoordIndex-th generalized coordinate.

Implemented in dart::dynamics::BodyNode.

◆ descendsFrom()

bool dart::dynamics::Entity::descendsFrom ( const Frame * _someFrame ) const

inherited

True if and only if this Entity depends on (i.e.

kinematically descends from) _someFrame. If _someFrame is nullptr, this returns true in order to accommodate BodyNodes which always have a nullptr BodyNode as the parent of a root BodyNode.

◆ dirtyAcceleration()

void dart::dynamics::Frame::dirtyAcceleration ( )

overridevirtualinherited

Notify the acceleration updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ dirtyJacobian()

void dart::dynamics::JacobianNode::dirtyJacobian ( )

Notify this BodyNode and all its descendents that their Jacobians need to be updated.

◆ dirtyJacobianDeriv()

void dart::dynamics::JacobianNode::dirtyJacobianDeriv ( )

Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated.

◆ dirtyTransform()

void dart::dynamics::Frame::dirtyTransform ( )

overridevirtualinherited

Notify the transformation updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ dirtyVelocity()

void dart::dynamics::Frame::dirtyVelocity ( )

overridevirtualinherited

Notify the velocity updates of this Frame and all its children are needed.

Reimplemented from dart::dynamics::Entity.

Reimplemented in dart::dynamics::BodyNode.

◆ getAngularAcceleration()

Eigen::Vector3d dart::dynamics::Frame::getAngularAcceleration	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the angular portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getAngularJacobian()

virtual math::AngularJacobian dart::dynamics::JacobianNode::getAngularJacobian ( const Frame * _inCoordinatesOf = Frame::World() ) const

pure virtual

Return the angular Jacobian targeting the origin of this BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getAngularJacobianDeriv()

virtual math::AngularJacobian dart::dynamics::JacobianNode::getAngularJacobianDeriv ( const Frame * _inCoordinatesOf = Frame::World() ) const

pure virtual

Return the angular Jacobian time derivative, in terms of any coordinate Frame.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getAngularVelocity()

Eigen::Vector3d dart::dynamics::Frame::getAngularVelocity	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the angular portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getBodyNodePtr() [1/2]

BodyNodePtr dart::dynamics::Node::getBodyNodePtr ( )

inherited

Get a pointer to the BodyNode that this Node is associated with.

◆ getBodyNodePtr() [2/2]

ConstBodyNodePtr dart::dynamics::Node::getBodyNodePtr ( ) const

inherited

Get a pointer to the BodyNode that this Node is associated with.

◆ getChainDofs()

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

pure virtual

Returns a DegreeOfFreedom vector containing the dofs that form a Chain leading up to this JacobianNode from the root of the Skeleton.

Implemented in dart::dynamics::BodyNode.

◆ getChildEntities() [1/2]

const std::set< Entity * > & dart::dynamics::Frame::getChildEntities ( )

inherited

Get a container with the Entities that are children of this Frame.

std::set is used because Entities may be arbitrarily added and removed from a parent Frame, and each entry should be unique. std::set makes this procedure easier.

◆ getChildEntities() [2/2]

const std::set< const Entity * > dart::dynamics::Frame::getChildEntities ( ) const

inherited

Get a container with the Entities that are children of this Frame.

Note that this is version is slightly less efficient than the non-const version because it needs to rebuild a set where each pointer is converted to be a const pointer.

◆ getChildFrames() [1/2]

const std::set< Frame * > & dart::dynamics::Frame::getChildFrames ( )

inherited

Get a container with the Frames that are children of this Frame.

std::set is used because Frames may be arbitrarily added and removed from a parent Frame, and each entry should be unique.

◆ getChildFrames() [2/2]

std::set< const Frame * > dart::dynamics::Frame::getChildFrames ( ) const

inherited

Get a container with the Frames that are children of this Frame.

Note that this version is less efficient than the non-const version because it needs to rebuild a set so that the entries are const.

◆ getDependentDof() [1/2]

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

pure virtual

Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode.

Implemented in dart::dynamics::BodyNode.

◆ getDependentDof() [2/2]

virtual DegreeOfFreedom* dart::dynamics::JacobianNode::getDependentDof ( std::size_t _index )

pure virtual

Get a pointer to the _indexth dependent DegreeOfFreedom for this BodyNode.

Implemented in dart::dynamics::BodyNode.

◆ getDependentDofs() [1/2]

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

pure virtual

Return a std::vector of DegreeOfFreedom pointers that this Node depends on.

Implemented in dart::dynamics::BodyNode.

◆ getDependentDofs() [2/2]

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

pure virtual

Return a std::vector of DegreeOfFreedom pointers that this Node depends on.

Implemented in dart::dynamics::BodyNode.

◆ getDependentGenCoordIndex()

virtual std::size_t dart::dynamics::JacobianNode::getDependentGenCoordIndex ( std::size_t _arrayIndex ) const

pure virtual

Return a generalized coordinate index from the array index (< getNumDependentDofs)

Implemented in dart::dynamics::BodyNode.

◆ getDependentGenCoordIndices()

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

pure virtual

Indices of the generalized coordinates which affect this JacobianNode.

Implemented in dart::dynamics::BodyNode.

◆ getIK() [1/2]

std::shared_ptr< const InverseKinematics > dart::dynamics::JacobianNode::getIK ( ) const

Get a pointer to an IK module for this JacobianNode.

Because this is a const function, a new IK module cannot be created if one does not already exist.

◆ getIK() [2/2]

const std::shared_ptr< InverseKinematics > & dart::dynamics::JacobianNode::getIK ( bool _createIfNull = false )

Get a pointer to an IK module for this JacobianNode.

If _createIfNull is true, then the IK module will be generated if one does not already exist.

◆ getJacobian() [1/4]

virtual const math::Jacobian& dart::dynamics::JacobianNode::getJacobian ( ) const

pure virtual

Return the generalized Jacobian targeting the origin of this JacobianNode.

The Jacobian is expressed in the Frame of this JacobianNode.

Implemented in dart::dynamics::BodyNode.

◆ getJacobian() [2/4]

virtual math::Jacobian dart::dynamics::JacobianNode::getJacobian ( const Eigen::Vector3d & _offset ) const

pure virtual

Return the generalized Jacobian targeting an offset within the Frame of this JacobianNode.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getJacobian() [3/4]

virtual math::Jacobian dart::dynamics::JacobianNode::getJacobian	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf
	)		const

pure virtual

A version of getJacobian(const Eigen::Vector3d&) that lets you specify a coordinate Frame to express the Jacobian in.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getJacobian() [4/4]

virtual math::Jacobian dart::dynamics::JacobianNode::getJacobian ( const Frame * _inCoordinatesOf ) const

pure virtual

A version of getJacobian() that lets you specify a coordinate Frame to express the Jacobian in.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getJacobianClassicDeriv() [1/3]

virtual const math::Jacobian& dart::dynamics::JacobianNode::getJacobianClassicDeriv ( ) const

pure virtual

Return the classical time derivative of the generalized Jacobian targeting the origin of this BodyNode.

The Jacobian is expressed in the World coordinate Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear and angular vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implemented in dart::dynamics::BodyNode.

◆ getJacobianClassicDeriv() [2/3]

virtual math::Jacobian dart::dynamics::JacobianNode::getJacobianClassicDeriv	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

pure virtual

A version of getJacobianClassicDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode.

The offset must be expressed in the coordinates of this BodyNode Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear and angular vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getJacobianClassicDeriv() [3/3]

virtual math::Jacobian dart::dynamics::JacobianNode::getJacobianClassicDeriv ( const Frame * _inCoordinatesOf ) const

pure virtual

A version of getJacobianClassicDeriv() that can return the Jacobian in coordinates of any Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear and angular vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getJacobianSpatialDeriv() [1/4]

virtual const math::Jacobian& dart::dynamics::JacobianNode::getJacobianSpatialDeriv ( ) const

pure virtual

Return the spatial time derivative of the generalized Jacobian targeting the origin of this BodyNode.

The Jacobian is expressed in this BodyNode's coordinate Frame.

NOTE: Since this is a spatial time derivative, it should be used with spatial vectors. If you are using classical linear and angular acceleration vectors, then use getJacobianClassicDeriv(), getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.

Implemented in dart::dynamics::BodyNode.

◆ getJacobianSpatialDeriv() [2/4]

virtual math::Jacobian dart::dynamics::JacobianNode::getJacobianSpatialDeriv ( const Eigen::Vector3d & _offset ) const

pure virtual

Return the spatial time derivative of the generalized Jacobian targeting an offset in the Frame of this BodyNode.

The Jacobian is expressed in this BodyNode's coordinate Frame.

NOTE: This Jacobian Derivative is only for use with spatial vectors. If you are using classic linear and angular vectors, then use getJacobianClassicDeriv(), getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.

See also: getJacobianSpatialDeriv()

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getJacobianSpatialDeriv() [3/4]

virtual math::Jacobian dart::dynamics::JacobianNode::getJacobianSpatialDeriv	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf
	)		const

pure virtual

A version of getJacobianSpatialDeriv(const Eigen::Vector3d&) that allows an arbitrary coordinate Frame to be specified.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getJacobianSpatialDeriv() [4/4]

virtual math::Jacobian dart::dynamics::JacobianNode::getJacobianSpatialDeriv ( const Frame * _inCoordinatesOf ) const

pure virtual

A version of getJacobianSpatialDeriv() that can return the Jacobian in coordinates of any Frame.

NOTE: This Jacobian Derivative is only for use with spatial vectors. If you are using classical linear and angular vectors, then use getJacobianClassicDeriv(), getLinearJacobianDeriv(), or getAngularJacobianDeriv() instead.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getLinearAcceleration() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearAcceleration	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

◆ getLinearAcceleration() [2/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearAcceleration	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the linear portion of classical acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getLinearJacobian() [1/2]

virtual math::LinearJacobian dart::dynamics::JacobianNode::getLinearJacobian	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

pure virtual

Return the generalized Jacobian targeting an offset within the Frame of this BodyNode.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getLinearJacobian() [2/2]

virtual math::LinearJacobian dart::dynamics::JacobianNode::getLinearJacobian ( const Frame * _inCoordinatesOf = Frame::World() ) const

pure virtual

Return the linear Jacobian targeting the origin of this BodyNode.

You can specify a coordinate Frame to express the Jacobian in.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getLinearJacobianDeriv() [1/2]

virtual math::LinearJacobian dart::dynamics::JacobianNode::getLinearJacobianDeriv	(	const Eigen::Vector3d &	_offset,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

pure virtual

A version of getLinearJacobianDeriv() that can compute the Jacobian for an offset within the Frame of this BodyNode.

The offset must be expressed in coordinates of this BodyNode Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getLinearJacobianDeriv() [2/2]

virtual math::LinearJacobian dart::dynamics::JacobianNode::getLinearJacobianDeriv ( const Frame * _inCoordinatesOf = Frame::World() ) const

pure virtual

Return the linear Jacobian (classical) time derivative, in terms of any coordinate Frame.

NOTE: Since this is a classical time derivative, it should be used with classical linear vectors. If you are using spatial vectors, use getJacobianSpatialDeriv() instead.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getLinearVelocity() [1/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the linear velocity of a point that is fixed in this Frame.

You can specify a relative Frame, and it can be expressed in the coordinates of any Frame.

◆ getLinearVelocity() [2/2]

Eigen::Vector3d dart::dynamics::Frame::getLinearVelocity	(	const Frame *	_relativeTo = `Frame::World()`,
		const Frame *	_inCoordinatesOf = `Frame::World()`
	)		const

inherited

Get the linear portion of classical velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getName() [1/3]

virtual const std::string& dart::dynamics::Entity::getName ( ) const

pure virtualinherited

Return the name of this Entity.

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::PointMassNotifier, and dart::dynamics::BodyNode.

◆ getName() [2/3]

virtual const std::string& dart::dynamics::Node::getName ( ) const

pure virtualinherited

Get the name of this Node.

Implemented in dart::dynamics::BodyNode.

◆ getName() [3/3]

virtual const std::string& dart::dynamics::Node::getName

Get the name of this Node.

◆ getNodeProperties()

std::unique_ptr< Node::Properties > dart::dynamics::Node::getNodeProperties ( ) const

virtualinherited

Get the Properties of this Node.

By default, this returns a nullptr which implies that the Node has no properties.

◆ getNodeState()

std::unique_ptr< Node::State > dart::dynamics::Node::getNodeState ( ) const

virtualinherited

Get the State of this Node.

By default, this returns a nullptr which implies that the Node is stateless.

◆ getNumChildEntities()

std::size_t dart::dynamics::Frame::getNumChildEntities ( ) const

inherited

Get the number of Entities that are currently children of this Frame.

◆ getNumChildFrames()

std::size_t dart::dynamics::Frame::getNumChildFrames ( ) const

inherited

Get the number of Frames that are currently children of this Frame.

◆ getNumDependentDofs()

virtual std::size_t dart::dynamics::JacobianNode::getNumDependentDofs ( ) const

pure virtual

Same as getNumDependentGenCoords()

Implemented in dart::dynamics::BodyNode.

◆ getNumDependentGenCoords()

virtual std::size_t dart::dynamics::JacobianNode::getNumDependentGenCoords ( ) const

pure virtual

The number of the generalized coordinates which affect this JacobianNode.

Implemented in dart::dynamics::BodyNode.

◆ getOrCreateDestructor()

std::shared_ptr< NodeDestructor > dart::dynamics::Node::getOrCreateDestructor ( )

privateinherited

◆ getOrCreateIK()

const std::shared_ptr< InverseKinematics > & dart::dynamics::JacobianNode::getOrCreateIK ( )

Get a pointer to an IK module for this JacobianNode.

The IK module will be generated if one does not already exist. This function is actually the same as getIK(true).

◆ getParentFrame() [1/2]

Frame * dart::dynamics::Entity::getParentFrame ( )

inherited

Get the parent (reference) frame of this Entity.

◆ getParentFrame() [2/2]

const Frame * dart::dynamics::Entity::getParentFrame ( ) const

inherited

Get the parent (reference) frame of this Entity.

◆ getPartialAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getPartialAcceleration ( ) const

pure virtualinherited

The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration.

This function returns that component of acceleration.

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::FixedFrame, and dart::dynamics::BodyNode.

◆ getPrimaryRelativeAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getPrimaryRelativeAcceleration ( ) const

pure virtualinherited

The Featherstone ABI algorithm exploits a component of the spatial acceleration which we refer to as the partial acceleration, accessible by getPartialAcceleration().

We save operations during our forward kinematics by computing and storing the partial acceleration separately from the rest of the Frame's acceleration. getPrimaryRelativeAcceleration() will return the portion of the relative spatial acceleration that is not contained in the partial acceleration. To get the full spatial acceleration of this Frame relative to its parent Frame, use getRelativeSpatialAcceleration(). To get the full spatial acceleration of this Frame relative to the World Frame, use getSpatialAcceleration().

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::FixedFrame, and dart::dynamics::BodyNode.

◆ getRelativeSpatialAcceleration()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getRelativeSpatialAcceleration ( ) const

pure virtualinherited

Get the spatial acceleration of this Frame relative to its parent Frame, in the coordinates of this Frame.

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::FixedFrame, and dart::dynamics::BodyNode.

◆ getRelativeSpatialVelocity()

virtual const Eigen::Vector6d& dart::dynamics::Frame::getRelativeSpatialVelocity ( ) const

pure virtualinherited

Get the spatial velocity of this Frame relative to its parent Frame, in its own coordinates.

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::FixedFrame, and dart::dynamics::BodyNode.

◆ getRelativeTransform()

virtual const Eigen::Isometry3d& dart::dynamics::Frame::getRelativeTransform ( ) const

pure virtualinherited

Get the transform of this Frame with respect to its parent Frame.

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::FixedFrame, and dart::dynamics::BodyNode.

◆ getSkeleton() [1/2]

std::shared_ptr< Skeleton > dart::dynamics::Node::getSkeleton ( )

virtualinherited

Return the Skeleton that this Node is attached to.

Reimplemented in dart::dynamics::BodyNode.

◆ getSkeleton() [2/2]

std::shared_ptr< const Skeleton > dart::dynamics::Node::getSkeleton ( ) const

virtualinherited

Return the Skeleton that this Node is attached to.

Reimplemented in dart::dynamics::BodyNode.

◆ getSpatialAcceleration() [1/4]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialAcceleration ( ) const

inherited

Get the total spatial acceleration of this Frame in the coordinates of this Frame.

◆ getSpatialAcceleration() [2/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration ( const Eigen::Vector3d & _offset ) const

inherited

Get the spatial acceleration of a fixed point in this Frame.

The acceleration is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialAcceleration() [3/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial acceleration of a fixed point in this Frame.

◆ getSpatialAcceleration() [4/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialAcceleration	(	const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial acceleration of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getSpatialVelocity() [1/4]

const Eigen::Vector6d & dart::dynamics::Frame::getSpatialVelocity ( ) const

inherited

Get the total spatial velocity of this Frame in the coordinates of this Frame.

◆ getSpatialVelocity() [2/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity ( const Eigen::Vector3d & _offset ) const

inherited

Get the spatial velocity of a fixed point in this Frame.

The velocity is in coordinates of this Frame and is relative to the World Frame.

◆ getSpatialVelocity() [3/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity	(	const Eigen::Vector3d &	_offset,
		const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial velocity of a fixed point in this Frame.

◆ getSpatialVelocity() [4/4]

Eigen::Vector6d dart::dynamics::Frame::getSpatialVelocity	(	const Frame *	_relativeTo,
		const Frame *	_inCoordinatesOf
	)		const

inherited

Get the spatial velocity of this Frame relative to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getTransform() [1/2]

Eigen::Isometry3d dart::dynamics::Frame::getTransform ( const Frame * _withRespectTo = Frame::World() ) const

inherited

Get the transform of this Frame with respect to some other Frame.

◆ getTransform() [2/2]

Eigen::Isometry3d dart::dynamics::Frame::getTransform	(	const Frame *	withRespectTo,
		const Frame *	inCoordinatesOf
	)		const

inherited

Get the transform of this Frame with respect to some other Frame.

It can be expressed in the coordinates of any Frame.

◆ getVersion()

std::size_t dart::common::VersionCounter::getVersion ( ) const

virtualinherited

Get the version number of this object.

◆ getWorldJacobian() [1/2]

virtual const math::Jacobian& dart::dynamics::JacobianNode::getWorldJacobian ( ) const

pure virtual

Return the generalized Jacobian targeting the origin of this JacobianNode.

The Jacobian is expressed in the World Frame.

Implemented in dart::dynamics::BodyNode.

◆ getWorldJacobian() [2/2]

virtual math::Jacobian dart::dynamics::JacobianNode::getWorldJacobian ( const Eigen::Vector3d & _offset ) const

pure virtual

Return the generalized Jacobian targeting an offset in this JacobianNode.

The _offset is expected in coordinates of this BodyNode Frame. The Jacobian is expressed in the World Frame.

Implemented in dart::dynamics::TemplatedJacobianNode< NodeType >, and dart::dynamics::TemplatedJacobianNode< BodyNode >.

◆ getWorldTransform()

const Eigen::Isometry3d & dart::dynamics::Frame::getWorldTransform ( ) const

inherited

Get the transform of this Frame with respect to the World Frame.

◆ incrementVersion()

std::size_t dart::common::VersionCounter::incrementVersion ( )

virtualinherited

Increment the version for this object.

Reimplemented in dart::dynamics::Shape.

◆ isFrame()

bool dart::dynamics::Entity::isFrame ( ) const

inherited

True iff this Entity is also a Frame.

◆ isQuiet()

bool dart::dynamics::Entity::isQuiet ( ) const

inherited

Returns true if this Entity is set to be quiet.

A quiet entity is unknown to its parent Frame. It will not be tracked by its parent; it will not receive notifications from its parent, and it will not be rendered. The advantage to a quiet Entity is that it has less overhead when constructing and deconstructing, which makes it more suitable for temporary objects.

◆ isRemoved()

bool dart::dynamics::Node::isRemoved ( ) const

inherited

Returns true if this Node has been staged for removal from its BodyNode.

It will be deleted once all strong references to it expire. If it is an AccessoryNode, you can call reattach() to prevent that from happening.

◆ isShapeFrame()

bool dart::dynamics::Frame::isShapeFrame ( ) const

inherited

Returns true if this Frame is a ShapeFrame.

◆ isWorld()

bool dart::dynamics::Frame::isWorld ( ) const

inherited

Returns true if this Frame is the World Frame.

◆ needsAccelerationUpdate()

bool dart::dynamics::Entity::needsAccelerationUpdate ( ) const

inherited

Returns true iff an acceleration update is needed for this Entity.

◆ needsTransformUpdate()

bool dart::dynamics::Entity::needsTransformUpdate ( ) const

inherited

Returns true iff a transform update is needed for this Entity.

◆ needsVelocityUpdate()

bool dart::dynamics::Entity::needsVelocityUpdate ( ) const

inherited

Returns true iff a velocity update is needed for this Entity.

◆ notifyAccelerationUpdate()

void dart::dynamics::Entity::notifyAccelerationUpdate ( )

virtualinherited

Notify the acceleration of this Entity that its parent Frame's acceleration is needed.

◆ notifyJacobianDerivUpdate()

void dart::dynamics::JacobianNode::notifyJacobianDerivUpdate ( )

Notify this BodyNode and all its descendents that their Jacobian derivatives need to be updated.

◆ notifyJacobianUpdate()

void dart::dynamics::JacobianNode::notifyJacobianUpdate ( )

Notify this BodyNode and all its descendents that their Jacobians need to be updated.

◆ notifyTransformUpdate()

void dart::dynamics::Entity::notifyTransformUpdate ( )

virtualinherited

Notify the transformation update of this Entity that its parent Frame's pose is needed.

◆ notifyVelocityUpdate()

void dart::dynamics::Entity::notifyVelocityUpdate ( )

virtualinherited

Notify the velocity update of this Entity that its parent Frame's velocity is needed.

◆ processNewEntity()

void dart::dynamics::Frame::processNewEntity ( Entity * _newChildEntity )

protectedvirtualinherited

Called during a parent Frame change to allow extensions of the Frame class to handle new children in customized ways.

This function is a no op unless an inheriting class (such as BodyNode) overrides it.

Reimplemented in dart::dynamics::BodyNode.

◆ processRemovedEntity()

void dart::dynamics::Frame::processRemovedEntity ( Entity * _oldChildEntity )

protectedvirtualinherited

Called when a child Entity is removed from its parent Frame.

This allows special post-processing to be performed for extensions of the Frame class.

Reimplemented in dart::dynamics::BodyNode.

◆ registerNameChange()

std::string dart::dynamics::Node::registerNameChange ( const std::string & newName )

protectedinherited

Inform the Skeleton that the name of this Node has changed.

If the name is already taken by another Node of the same type, then this function will return a modified version which is unique. If the name is not already taken, then it will just return the same name that the function was given.

◆ removeObserver()

void dart::common::Subject::removeObserver ( Observer * _observer ) const

protectedinherited

Remove an Observer from the list of Observers.

◆ sendDestructionNotification()

void dart::common::Subject::sendDestructionNotification ( ) const

protectedinherited

Send a destruction notification to all Observers.

This will cause all Observers to behave as if this Subject has been permanently deleted, so it should only be called when that behavior is desired.

◆ setName() [1/3]

virtual const std::string& dart::dynamics::Entity::setName ( const std::string & _name )

pure virtualinherited

Set name.

Some implementations of Entity may make alterations to the name that gets passed in. The final name that this entity will use gets passed back in the return of this function.

Implemented in dart::dynamics::WorldFrame, dart::dynamics::SimpleFrame, dart::dynamics::PointMassNotifier, and dart::dynamics::BodyNode.

◆ setName() [2/3]

virtual const std::string& dart::dynamics::Node::setName

Set the name of this Node.

◆ setName() [3/3]

virtual const std::string& dart::dynamics::Node::setName ( const std::string & newName )

pure virtualinherited

Set the name of this Node.

Implemented in dart::dynamics::BodyNode.

◆ setNodeProperties()

void dart::dynamics::Node::setNodeProperties ( const Properties & properties )

virtualinherited

Set the Properties of this Node. By default, this does nothing.

◆ setNodeState()

void dart::dynamics::Node::setNodeState ( const State & otherState )

virtualinherited

Set the State of this Node. By default, this does nothing.

◆ setVersionDependentObject()

void dart::common::VersionCounter::setVersionDependentObject ( VersionCounter * dependent )

protectedinherited

◆ stageForRemoval()

void dart::dynamics::Node::stageForRemoval ( )

protectedinherited

When all external references to the Node disappear, it will be deleted.

◆ World()

Frame * dart::dynamics::Frame::World ( )

staticinherited

Member Data Documentation

◆ mAcceleration

Eigen::Vector6d dart::dynamics::Frame::mAcceleration

mutableprotectedinherited

Total acceleration of this Frame, in the coordinates of this Frame.

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

◆ mAccelerationChangedSignal

EntitySignal dart::dynamics::Entity::mAccelerationChangedSignal

protectedinherited

Acceleration changed signal.

◆ mAmAttached

bool dart::dynamics::Node::mAmAttached

protectedinherited

bool that tracks whether this Node is attached to its BodyNode

◆ mAmFrame

bool dart::dynamics::Entity::mAmFrame

privateinherited

Whether or not this Entity is a Frame.

◆ mAmQuiet

const bool dart::dynamics::Entity::mAmQuiet

privateinherited

Whether or not this Entity is set to be quiet.

◆ mAmShapeFrame

bool dart::dynamics::Frame::mAmShapeFrame

privateinherited

Contains whether or not this is a ShapeFrame.

◆ mAmWorld

const bool dart::dynamics::Frame::mAmWorld

privateinherited

Contains whether or not this is the World Frame.

◆ mBodyNode

BodyNode* dart::dynamics::Node::mBodyNode

protectedinherited

Pointer to the BodyNode that this Node is attached to.

◆ mChildEntities

std::set<Entity*> dart::dynamics::Frame::mChildEntities

protectedinherited

Container of this Frame's child Entities.

◆ mChildFrames

std::set<Frame*> dart::dynamics::Frame::mChildFrames

protectedinherited

Container of this Frame's child Frames.

◆ mChildJacobianNodes

std::unordered_set<JacobianNode*> dart::dynamics::JacobianNode::mChildJacobianNodes

protected

JacobianNode children that descend from this JacobianNode.

◆ mDependent

VersionCounter* dart::common::VersionCounter::mDependent

privateinherited

◆ mDestructor

std::weak_ptr<NodeDestructor> dart::dynamics::Node::mDestructor

protectedinherited

weak pointer to the destructor for this Node.

We use a shared_ptr "destructor" class instead of managing Nodes directly with shared_ptrs because this scheme allows BodyNodes to circumvent the shared_ptr management by setting the mNode member of the Destructor to a nullptr. That way the BodyNode can never be deleted by its Destructor.

◆ mFrameChangedSignal

FrameChangedSignal dart::dynamics::Entity::mFrameChangedSignal

protectedinherited

Frame changed signal.

◆ mIK

std::shared_ptr<InverseKinematics> dart::dynamics::JacobianNode::mIK

protected

Inverse kinematics module which gets lazily created upon request.

◆ mIndexInBodyNode

std::size_t dart::dynamics::Node::mIndexInBodyNode

protectedinherited

The index of this Node within its vector in its BodyNode's NodeMap.

◆ mIndexInSkeleton

std::size_t dart::dynamics::Node::mIndexInSkeleton

protectedinherited

The index of this Node within its vector in its Skeleton's NodeMap.

◆ mIndexInTree

std::size_t dart::dynamics::Node::mIndexInTree

protectedinherited

Index of this Node within its tree.

◆ mIsBodyJacobianDirty

bool dart::dynamics::JacobianNode::mIsBodyJacobianDirty

mutableprotected

Dirty flag for body Jacobian.

◆ mIsBodyJacobianSpatialDerivDirty

bool dart::dynamics::JacobianNode::mIsBodyJacobianSpatialDerivDirty

mutableprotected

Dirty flag for spatial time derivative of body Jacobian.

◆ mIsWorldJacobianClassicDerivDirty

bool dart::dynamics::JacobianNode::mIsWorldJacobianClassicDerivDirty

mutableprotected

Dirty flag for the classic time derivative of the Jacobian.

◆ mIsWorldJacobianDirty

bool dart::dynamics::JacobianNode::mIsWorldJacobianDirty

mutableprotected

Dirty flag for world Jacobian.

◆ mNameChangedSignal

NameChangedSignal dart::dynamics::Entity::mNameChangedSignal

protectedinherited

Name changed signal.

◆ mNeedAccelerationUpdate

bool dart::dynamics::Entity::mNeedAccelerationUpdate

mutableprotectedinherited

Does this Entity need an Acceleration update.

◆ mNeedTransformUpdate

bool dart::dynamics::Entity::mNeedTransformUpdate

mutableprotectedinherited

Does this Entity need a Transform update.

◆ mNeedVelocityUpdate

bool dart::dynamics::Entity::mNeedVelocityUpdate

mutableprotectedinherited

Does this Entity need a Velocity update.

◆ mObservers

std::set<Observer*> dart::common::Subject::mObservers

mutableprotectedinherited

List of current Observers.

◆ mParentFrame

Frame* dart::dynamics::Entity::mParentFrame

protectedinherited

Parent frame of this Entity.

◆ mTransformUpdatedSignal

EntitySignal dart::dynamics::Entity::mTransformUpdatedSignal

protectedinherited

Transform changed signal.

◆ mVelocity

Eigen::Vector6d dart::dynamics::Frame::mVelocity

mutableprotectedinherited

Total velocity of this Frame, in the coordinates of this Frame.

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

◆ mVelocityChangedSignal

EntitySignal dart::dynamics::Entity::mVelocityChangedSignal

protectedinherited

Velocity changed signal.

◆ mVersion

std::size_t dart::common::VersionCounter::mVersion

protectedinherited

◆ mWorldTransform

Eigen::Isometry3d dart::dynamics::Frame::mWorldTransform

mutableprotectedinherited

World transform of this Frame.

This object is mutable to enable auto-updating to happen in the const member getWorldTransform() function

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

◆ onAccelerationChanged

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onAccelerationChanged

inherited

Slot register for acceleration updated signal.

◆ onFrameChanged

common::SlotRegister<FrameChangedSignal> dart::dynamics::Entity::onFrameChanged

inherited

Slot register for frame changed signal.

◆ onNameChanged

common::SlotRegister<NameChangedSignal> dart::dynamics::Entity::onNameChanged

inherited

Slot register for name changed signal.

◆ onTransformUpdated

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onTransformUpdated

inherited

Slot register for transform updated signal.

◆ onVelocityChanged

common::SlotRegister<EntitySignal> dart::dynamics::Entity::onVelocityChanged

inherited

Slot register for velocity updated signal.

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Slot registers

Detailed Description

Member Typedef Documentation

◆ EntitySignal

◆ FrameChangedSignal

◆ MakeProperties

◆ MakeState

◆ NameChangedSignal

Member Enumeration Documentation

◆ ConstructAbstractTag

◆ ConstructFrameTag

◆ ConstructWorldTag

Constructor & Destructor Documentation

◆ ~JacobianNode()

◆ JacobianNode()

Member Function Documentation

◆ addObserver()

◆ asShapeFrame() [1/2]

◆ asShapeFrame() [2/2]

◆ attach()

◆ changeParentFrame()

◆ clearIK()

◆ cloneNode()

◆ copyNodePropertiesTo()

◆ copyNodeStateTo()

◆ createIK()

◆ dependsOn()

◆ descendsFrom()

◆ dirtyAcceleration()

◆ dirtyJacobian()

◆ dirtyJacobianDeriv()

◆ dirtyTransform()

◆ dirtyVelocity()

◆ getAngularAcceleration()

◆ getAngularJacobian()

◆ getAngularJacobianDeriv()

◆ getAngularVelocity()

◆ getBodyNodePtr() [1/2]

◆ getBodyNodePtr() [2/2]

◆ getChainDofs()

◆ getChildEntities() [1/2]

◆ getChildEntities() [2/2]

◆ getChildFrames() [1/2]

◆ getChildFrames() [2/2]

◆ getDependentDof() [1/2]

◆ getDependentDof() [2/2]

◆ getDependentDofs() [1/2]

◆ getDependentDofs() [2/2]

◆ getDependentGenCoordIndex()

◆ getDependentGenCoordIndices()

◆ getIK() [1/2]

◆ getIK() [2/2]

◆ getJacobian() [1/4]

◆ getJacobian() [2/4]

◆ getJacobian() [3/4]

◆ getJacobian() [4/4]

◆ getJacobianClassicDeriv() [1/3]

◆ getJacobianClassicDeriv() [2/3]

◆ getJacobianClassicDeriv() [3/3]

◆ getJacobianSpatialDeriv() [1/4]

◆ getJacobianSpatialDeriv() [2/4]

◆ getJacobianSpatialDeriv() [3/4]

◆ getJacobianSpatialDeriv() [4/4]

◆ getLinearAcceleration() [1/2]

◆ getLinearAcceleration() [2/2]

◆ getLinearJacobian() [1/2]

◆ getLinearJacobian() [2/2]

◆ getLinearJacobianDeriv() [1/2]

◆ getLinearJacobianDeriv() [2/2]

◆ getLinearVelocity() [1/2]

◆ getLinearVelocity() [2/2]