DART  6.7.3
FreeJoint.hpp
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32 
33 #ifndef DART_DYNAMICS_FREEJOINT_HPP_
34 #define DART_DYNAMICS_FREEJOINT_HPP_
35 
36 #include <string>
37 
38 #include <Eigen/Dense>
39 
41 
42 namespace dart {
43 namespace dynamics {
44 
46 class FreeJoint : public GenericJoint<math::SE3Space>
47 {
48 public:
49 
50  friend class Skeleton;
51 
53 
55  {
57 
59 
60  virtual ~Properties() = default;
61  };
62 
63  FreeJoint(const FreeJoint&) = delete;
64 
66  virtual ~FreeJoint();
67 
70 
71  // Documentation inherited
72  const std::string& getType() const override;
73 
75  static const std::string& getStaticType();
76 
77  // Documentation inherited
78  bool isCyclic(std::size_t _index) const override;
79 
86  static Eigen::Vector6d convertToPositions(const Eigen::Isometry3d& _tf);
87 
89  static Eigen::Isometry3d convertToTransform(const Eigen::Vector6d& _positions);
90 
94  static void setTransform(Joint* joint,
95  const Eigen::Isometry3d& tf,
96  const Frame* withRespectTo = Frame::World());
97 
101  static void setTransform(BodyNode* bodyNode,
102  const Eigen::Isometry3d& tf,
103  const Frame* withRespectTo = Frame::World());
104 
109  static void setTransform(Skeleton* skeleton,
110  const Eigen::Isometry3d& tf,
111  const Frame* withRespectTo = Frame::World(),
112  bool applyToAllRootBodies = true);
113 
140  void setSpatialMotion(
141  const Eigen::Isometry3d* newTransform,
142  const Frame* withRespectTo,
143  const Eigen::Vector6d* newSpatialVelocity,
144  const Frame* velRelativeTo,
145  const Frame* velInCoordinatesOf,
146  const Eigen::Vector6d* newSpatialAcceleration,
147  const Frame* accRelativeTo,
148  const Frame* accInCoordinatesOf);
149 
152  void setRelativeTransform(const Eigen::Isometry3d& newTransform);
153 
157  void setTransform(const Eigen::Isometry3d& newTransform,
158  const Frame* withRespectTo = Frame::World());
159 
165  void setRelativeSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity);
166 
172  void setRelativeSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity,
173  const Frame* inCoordinatesOf);
174 
181  void setSpatialVelocity(const Eigen::Vector6d& newSpatialVelocity,
182  const Frame* relativeTo,
183  const Frame* inCoordinatesOf);
184 
193  void setLinearVelocity(const Eigen::Vector3d& newLinearVelocity,
194  const Frame* relativeTo = Frame::World(),
195  const Frame* inCoordinatesOf = Frame::World());
196 
205  void setAngularVelocity(const Eigen::Vector3d& newAngularVelocity,
206  const Frame* relativeTo = Frame::World(),
207  const Frame* inCoordinatesOf = Frame::World());
208 
215  const Eigen::Vector6d& newSpatialAcceleration);
216 
224  const Eigen::Vector6d& newSpatialAcceleration,
225  const Frame* inCoordinatesOf);
226 
234  void setSpatialAcceleration(const Eigen::Vector6d& newSpatialAcceleration,
235  const Frame* relativeTo,
236  const Frame* inCoordinatesOf);
237 
246  void setLinearAcceleration(const Eigen::Vector3d& newLinearAcceleration,
247  const Frame* relativeTo = Frame::World(),
248  const Frame* inCoordinatesOf = Frame::World());
249 
258  void setAngularAcceleration(const Eigen::Vector3d& newAngularAcceleration,
259  const Frame* relativeTo = Frame::World(),
260  const Frame* inCoordinatesOf = Frame::World());
261 
262  // Documentation inherited
264  const Eigen::Vector6d& _positions) const override;
265 
266  // Documentation inherited
268  const Eigen::Vector6d& _q2, const Eigen::Vector6d& _q1) const override;
269 
270 protected:
271 
274 
275  // Documentation inherited
276  Joint* clone() const override;
277 
279 
280  // Documentation inherited
281  void integratePositions(double _dt) override;
282 
283  // Documentation inherited
284  void updateDegreeOfFreedomNames() override;
285 
286  // Documentation inherited
287  void updateRelativeTransform() const override;
288 
289  // Documentation inherited
290  void updateRelativeJacobian(bool _mandatory = true) const override;
291 
292  // Documentation inherited
293  void updateRelativeJacobianTimeDeriv() const override;
294 
295 protected:
296 
298  const Eigen::Isometry3d& getQ() const;
299 
303  mutable Eigen::Isometry3d mQ;
304 
305 public:
306  // To get byte-aligned Eigen vectors
307  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
308 };
309 
310 } // namespace dynamics
311 } // namespace dart
312 
313 #endif // DART_DYNAMICS_FREEJOINT_HPP_
#define DART_DEFINE_ALIGNED_SHARED_OBJECT_CREATOR(class_name)
Definition: Memory.hpp:148
BodyPropPtr properties
Definition: SdfParser.cpp:80
Terminator for the variadic template.
Definition: CompositeJoiner.hpp:45
BodyNode class represents a single node of the skeleton.
Definition: BodyNode.hpp:78
The Frame class serves as the backbone of DART's kinematic tree structure.
Definition: Frame.hpp:57
static Frame * World()
Definition: Frame.cpp:72
class FreeJoint
Definition: FreeJoint.hpp:47
void setRelativeTransform(const Eigen::Isometry3d &newTransform)
Set the transform of the child BodyNode relative to the parent BodyNode.
Definition: FreeJoint.cpp:163
Eigen::Vector6d getPositionDifferencesStatic(const Eigen::Vector6d &_q2, const Eigen::Vector6d &_q1) const override
Definition: FreeJoint.cpp:513
FreeJoint(const FreeJoint &)=delete
void setLinearAcceleration(const Eigen::Vector3d &newLinearAcceleration, const Frame *relativeTo=Frame::World(), const Frame *inCoordinatesOf=Frame::World())
Set the linear portion of classical acceleration of the child BodyNode relative to an arbitrary Frame...
Definition: FreeJoint.cpp:428
Properties getFreeJointProperties() const
Get the Properties of this FreeJoint.
Definition: FreeJoint.cpp:58
void updateDegreeOfFreedomNames() override
Definition: FreeJoint.cpp:572
static const std::string & getStaticType()
Get joint type for this class.
Definition: FreeJoint.cpp:549
void updateRelativeJacobian(bool _mandatory=true) const override
Definition: FreeJoint.cpp:600
void updateRelativeTransform() const override
Definition: FreeJoint.cpp:589
void setRelativeSpatialVelocity(const Eigen::Vector6d &newSpatialVelocity)
Set the spatial velocity of the child BodyNode relative to the parent BodyNode.
Definition: FreeJoint.cpp:183
void setLinearVelocity(const Eigen::Vector3d &newLinearVelocity, const Frame *relativeTo=Frame::World(), const Frame *inCoordinatesOf=Frame::World())
Set the linear portion of classical velocity of the child BodyNode relative to an arbitrary Frame.
Definition: FreeJoint.cpp:262
void setRelativeSpatialAcceleration(const Eigen::Vector6d &newSpatialAcceleration)
Set the spatial acceleration of the child BodyNode relative to the parent BodyNode.
Definition: FreeJoint.cpp:334
void setSpatialMotion(const Eigen::Isometry3d *newTransform, const Frame *withRespectTo, const Eigen::Vector6d *newSpatialVelocity, const Frame *velRelativeTo, const Frame *velInCoordinatesOf, const Eigen::Vector6d *newSpatialAcceleration, const Frame *accRelativeTo, const Frame *accInCoordinatesOf)
Set the transform, spatial velocity, and spatial acceleration of the child BodyNode relative to an ar...
Definition: FreeJoint.cpp:139
void setAngularAcceleration(const Eigen::Vector3d &newAngularAcceleration, const Frame *relativeTo=Frame::World(), const Frame *inCoordinatesOf=Frame::World())
Set the angular portion of classical acceleration of the child BodyNode relative to an arbitrary Fram...
Definition: FreeJoint.cpp:468
void updateRelativeJacobianTimeDeriv() const override
Definition: FreeJoint.cpp:607
void setSpatialAcceleration(const Eigen::Vector6d &newSpatialAcceleration, const Frame *relativeTo, const Frame *inCoordinatesOf)
Set the spatial acceleration of the child BodyNode relative to an arbitrary Frame.
Definition: FreeJoint.cpp:364
void integratePositions(double _dt) override
Definition: FreeJoint.cpp:563
Joint * clone() const override
Definition: FreeJoint.cpp:537
const std::string & getType() const override
Definition: FreeJoint.cpp:543
static void setTransform(Joint *joint, const Eigen::Isometry3d &tf, const Frame *withRespectTo=Frame::World())
If the given joint is a FreeJoint, then set the transform of the given Joint's child BodyNode so that...
Definition: FreeJoint.cpp:83
void setAngularVelocity(const Eigen::Vector3d &newAngularVelocity, const Frame *relativeTo=Frame::World(), const Frame *inCoordinatesOf=Frame::World())
Set the angular portion of classical velocity of the child BodyNode relative to an arbitrary Frame.
Definition: FreeJoint.cpp:298
static Eigen::Isometry3d convertToTransform(const Eigen::Vector6d &_positions)
Convert a FreeJoint-style 6D vector into a transform.
Definition: FreeJoint.cpp:73
static Eigen::Vector6d convertToPositions(const Eigen::Isometry3d &_tf)
Convert a transform into a 6D vector that can be used to set the positions of a FreeJoint.
Definition: FreeJoint.cpp:64
const Eigen::Isometry3d & getQ() const
Access mQ, which is an auto-updating variable.
Definition: FreeJoint.cpp:613
Eigen::Isometry3d mQ
Transformation matrix dependent on generalized coordinates.
Definition: FreeJoint.hpp:303
virtual ~FreeJoint()
Destructor.
Definition: FreeJoint.cpp:52
void setSpatialVelocity(const Eigen::Vector6d &newSpatialVelocity, const Frame *relativeTo, const Frame *inCoordinatesOf)
Set the spatial velocity of the child BodyNode relative to an arbitrary Frame.
Definition: FreeJoint.cpp:209
bool isCyclic(std::size_t _index) const override
Definition: FreeJoint.cpp:556
Definition: GenericJoint.hpp:49
const GenericJoint< math::SE3Space >::JacobianMatrix & getRelativeJacobianStatic() const
Fixed-size version of getRelativeJacobian()
Definition: GenericJoint.hpp:1588
detail::GenericJointProperties< math::SE3Space > Properties
Definition: GenericJoint.hpp:64
class Joint
Definition: Joint.hpp:59
class Skeleton
Definition: Skeleton.hpp:59
Matrix< double, 6, 1 > Vector6d
Definition: MathTypes.hpp:49
Matrix< double, 6, 6 > Matrix6d
Definition: MathTypes.hpp:50
Definition: BulletCollisionDetector.cpp:63
Definition: FreeJoint.hpp:55
Properties(const Base::Properties &properties=Base::Properties())
Definition: FreeJoint.cpp:45