Skeleton.cpp File Reference

#include "dart/dynamics/Skeleton.hpp"
#include <algorithm>
#include <queue>
#include <string>
#include <vector>
#include "dart/common/Console.hpp"
#include "dart/common/Deprecated.hpp"
#include "dart/common/StlHelpers.hpp"
#include "dart/math/Geometry.hpp"
#include "dart/math/Helpers.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/DegreeOfFreedom.hpp"
#include "dart/dynamics/Joint.hpp"
#include "dart/dynamics/ShapeNode.hpp"
#include "dart/dynamics/EndEffector.hpp"
#include "dart/dynamics/InverseKinematics.hpp"
#include "dart/dynamics/Marker.hpp"
#include "dart/dynamics/PointMass.hpp"
#include "dart/dynamics/SoftBodyNode.hpp"

Namespaces
	dart
	dart::dynamics
	dart::dynamics::detail

Macros
#define	SET_ALL_FLAGS(X)
#define	SET_FLAG(Y, X)
#define	ON_ALL_TREES(X)   for(std::size_t i=0; i < mTreeCache.size(); ++i) X (i);
#define	CHECK_CONFIG_VECTOR_SIZE(V)
#define	RETURN_IF_CONFIG_VECTOR_IS_INEQ(V)
#define	SET_CONFIG_VECTOR(V)

Functions
template<class Owner , class Object , class ObjectBase , class Data , std::size_t(Owner::*)() const getNumObjects, Object *(Owner::*)(std::size_t) getObject, void(ObjectBase::*)(const Data &) setData>
void	dart::dynamics::detail::setAllMemberObjectData (Owner *owner, const std::vector< Data > &data)
	Templated function for passing each entry in a std::vector<Data> into each member of an array of Objects belonging to some Owner class. More...
template<class Owner , class Object , class ObjectBase , class Data , std::size_t(Owner::*)() const getNumObjects, const Object *(Owner::*)(std::size_t) const getObject, Data(ObjectBase::*)() const getData>
std::vector< Data >	dart::dynamics::detail::getAllMemberObjectData (const Owner *owner)
	Templated function for aggregating a std::vector<Data> out of each member of an array of Objects belonging to some Owner class. More...
void	dart::dynamics::detail::setAllBodyNodeStates (Skeleton *skel, const BodyNodeStateVector &states)
BodyNodeStateVector	dart::dynamics::detail::getAllBodyNodeStates (const Skeleton *skel)
void	dart::dynamics::detail::setAllBodyNodeProperties (Skeleton *skel, const BodyNodePropertiesVector &properties)
BodyNodePropertiesVector	dart::dynamics::detail::getAllBodyNodeProperties (const Skeleton *skel)
void	dart::dynamics::detail::setAllJointStates (Skeleton *skel, const JointStateVector &states)
JointStateVector	dart::dynamics::detail::getAllJointStates (const Skeleton *skel)
void	dart::dynamics::detail::setAllJointProperties (Skeleton *skel, const JointPropertiesVector &properties)
JointPropertiesVector	dart::dynamics::detail::getAllJointProperties (const Skeleton *skel)
template<class T >
static std::vector< const T * > &	dart::dynamics::convertToConstPtrVector (const std::vector< T * > &vec, std::vector< const T * > &const_vec)
template<class ObjectT , std::size_t(ObjectT::*)() const getIndexInSkeleton>
static std::size_t	dart::dynamics::templatedGetIndexOf (const Skeleton *_skel, const ObjectT *_obj, const std::string &_type, bool _warning)
static bool	dart::dynamics::isValidBodyNode (const Skeleton *_skeleton, const JacobianNode *_node, const std::string &_fname)
template<typename JacobianType >
void	dart::dynamics::assignJacobian (JacobianType &_J, const JacobianNode *_node, const JacobianType &_JBodyNode)
template<typename ... Args>
math::Jacobian	dart::dynamics::variadicGetJacobian (const Skeleton *_skel, const JacobianNode *_node, Args... args)
template<typename ... Args>
math::Jacobian	dart::dynamics::variadicGetWorldJacobian (const Skeleton *_skel, const JacobianNode *_node, Args... args)
template<typename ... Args>
math::LinearJacobian	dart::dynamics::variadicGetLinearJacobian (const Skeleton *_skel, const JacobianNode *_node, Args... args)
template<typename ... Args>
math::AngularJacobian	dart::dynamics::variadicGetAngularJacobian (const Skeleton *_skel, const JacobianNode *_node, Args... args)
template<typename ... Args>
math::Jacobian	dart::dynamics::variadicGetJacobianSpatialDeriv (const Skeleton *_skel, const JacobianNode *_node, Args... args)
template<typename ... Args>
math::Jacobian	dart::dynamics::variadicGetJacobianClassicDeriv (const Skeleton *_skel, const JacobianNode *_node, Args... args)
template<typename ... Args>
math::LinearJacobian	dart::dynamics::variadicGetLinearJacobianDeriv (const Skeleton *_skel, const JacobianNode *_node, Args... args)
template<typename ... Args>
math::AngularJacobian	dart::dynamics::variadicGetAngularJacobianDeriv (const Skeleton *_skel, const JacobianNode *_node, Args... args)
template<typename BodyNodeT >
static void	dart::dynamics::recursiveConstructBodyNodeTree (std::vector< BodyNodeT * > &tree, BodyNodeT *_currentBodyNode)
static void	dart::dynamics::computeSupportPolygon (const Skeleton *skel, math::SupportPolygon &polygon, math::SupportGeometry &geometry, std::vector< std::size_t > &ee_indices, Eigen::Vector3d &axis1, Eigen::Vector3d &axis2, Eigen::Vector2d &centroid, std::size_t treeIndex)
template<typename PropertyType , PropertyType(BodyNode::*)(const Frame *, const Frame *) const getPropertyFn>
PropertyType	dart::dynamics::getCOMPropertyTemplate (const Skeleton *_skel, const Frame *_relativeTo, const Frame *_inCoordinatesOf)
template<typename JacType , JacType(TemplatedJacobianNode< BodyNode >::*)(const Eigen::Vector3d &, const Frame *) const getJacFn>
JacType	dart::dynamics::getCOMJacobianTemplate (const Skeleton *_skel, const Frame *_inCoordinatesOf)

Macro Definition Documentation

CHECK_CONFIG_VECTOR_SIZE

#define CHECK_CONFIG_VECTOR_SIZE

(

V

)

Value:

  if( V .size() > 0 )                                                           \
  {                                                                             \
    if(nonzero_size != INVALID_INDEX                                            \
       && V .size() != static_cast<int>(nonzero_size))                          \
    {                                                                           \
      dterr << "[Skeleton::Configuration] Mismatch in size of vector [" << #V   \
            << "] (expected " << nonzero_size << " | found " << V . size()      \
            << "\n";                                                            \
      assert(false);                                                            \
    }                                                                           \
    else if(nonzero_size == INVALID_INDEX)                                      \
      nonzero_size = V .size();                                                 \
  }

ON_ALL_TREES

#define ON_ALL_TREES

(

X

)

for(std::size_t i=0; i < mTreeCache.size(); ++i) X (i);

RETURN_IF_CONFIG_VECTOR_IS_INEQ

#define RETURN_IF_CONFIG_VECTOR_IS_INEQ

(

V

)

Value:

  if( V .size() != other. V .size() )                                           \
    return false;                                                               \
  if( V != other. V )                                                           \
    return false;

SET_ALL_FLAGS

#define SET_ALL_FLAGS

(

X

)

Value:

                           for(auto& cache : mTreeCache) cache.mDirty. X = true;\
                           mSkelCache.mDirty. X = true;

SET_CONFIG_VECTOR

#define SET_CONFIG_VECTOR

(

V

)

Value:

  if(configuration.m ## V . size() > 0)                                         \
  {                                                                             \
    if(static_cast<int>(configuration.mIndices.size()) !=                       \
        configuration.m ## V .size())                                           \
    {                                                                           \
      dterr << "[Skeleton::setConfiguration] Mismatch in size of vector ["      \
            << #V << "] (expected " << configuration.mIndices.size()            \
            << " | found " << configuration.m ## V .size() << "\n";             \
      assert(false);                                                            \
    }                                                                           \
    else                                                                        \
      set ## V ( configuration.mIndices, configuration.m ## V );                \
  }

SET_FLAG

#define SET_FLAG	(		Y,
			X
	)

Value:

                         mTreeCache[ Y ].mDirty. X = true;                      \
                         mSkelCache.mDirty. X = true;