cnoid::DyLink Class Reference

#include <DyBody.h>

Inheritance diagram for cnoid::DyLink:

Classes
struct	ConstraintForce

Public Types
typedef std::vector< ConstraintForce >	ConstraintForceArray
Public Types inherited from cnoid::Link
enum	JointType {   REVOLUTE_JOINT = 0, ROTATIONAL_JOINT = REVOLUTE_JOINT, SLIDE_JOINT = 1, FREE_JOINT = 2,   FIXED_JOINT = 3, PSEUDO_CONTINUOUS_TRACK = 4, CRAWLER_JOINT = 5, AGX_CRAWLER_JOINT = 6 }

Public Member Functions
	DyLink ()
	DyLink (const Link &link)
DyLink *	parent () const
DyLink *	sibling () const
DyLink *	child () const
const Vector3 &	vo () const
Vector3 &	vo ()
const Vector3 &	dvo () const
Vector3 &	dvo ()
const Vector3 &	sw () const
Vector3 &	sw ()
const Vector3 &	sv () const
Vector3 &	sv ()
const Vector3 &	cv () const
Vector3 &	cv ()
const Vector3 &	cw () const
Vector3 &	cw ()
const Matrix3 &	Iww () const
Matrix3 &	Iww ()
const Matrix3 &	Iwv () const
Matrix3 &	Iwv ()
const Matrix3 &	Ivv () const
Matrix3 &	Ivv ()
const Vector3 &	pf () const
Vector3 &	pf ()
const Vector3 &	ptau () const
Vector3 &	ptau ()
const Vector3 &	hhv () const
Vector3 &	hhv ()
const Vector3 &	hhw () const
Vector3 &	hhw ()
double	uu () const
double &	uu ()
double	dd () const
double &	dd ()
ConstraintForceArray &	constraintForces ()
const ConstraintForceArray &	constraintForces () const
virtual void	prependChild (Link *link)
virtual void	appendChild (Link *link)
Public Member Functions inherited from cnoid::Link
	Link ()
	Link (const Link &link)
virtual	~Link ()
int	index () const
bool	isValid () const
Link *	parent () const
Link *	sibling () const
Link *	child () const
bool	isRoot () const
Body *	body ()
const Body *	body () const
Position &	T ()
const Position &	T () const
Position &	position ()
const Position &	position () const
template<class Scalar , int Mode, int Options>
void	setPosition (const Eigen::Transform< Scalar, 3, Mode, Options > &T)
template<typename Derived1 , typename Derived2 >
void	setPosition (const Eigen::MatrixBase< Derived1 > &rotation, const Eigen::MatrixBase< Derived2 > &translation)
Position::TranslationPart	p ()
Position::ConstTranslationPart	p () const
Position::TranslationPart	translation ()
Position::ConstTranslationPart	translation () const
template<typename Derived >
void	setTranslation (const Eigen::MatrixBase< Derived > &p)
Position::LinearPart	R ()
Position::ConstLinearPart	R () const
Position::LinearPart	rotation ()
Position::ConstLinearPart	rotation () const
template<typename Derived >
void	setRotation (const Eigen::MatrixBase< Derived > &R)
template<typename T >
void	setRotation (const Eigen::AngleAxis< T > &a)
Position &	Tb ()
const Position &	Tb () const
Position::ConstTranslationPart	b () const
Position::ConstTranslationPart	offsetTranslation () const
Position::ConstLinearPart	Rb () const
Position::ConstLinearPart	offsetRotation () const
Matrix3 &	Rs ()
const Matrix3 &	Rs () const
int	jointId () const
JointType	jointType () const
bool	isFixedJoint () const
bool	isFreeJoint () const
bool	isRotationalJoint () const
bool	isSlideJoint () const
std::string	jointTypeString () const
const Vector3 &	a () const
const Vector3 &	jointAxis () const
const Vector3 &	d () const
double	q () const
double &	q ()
double	dq () const
double &	dq ()
double	ddq () const
double &	ddq ()
double	u () const
double &	u ()
double	q_upper () const
	the upper limit of joint values More...
double	q_lower () const
	the lower limit of joint values More...
double	dq_upper () const
	the upper limit of joint velocities More...
double	dq_lower () const
	the upper limit of joint velocities More...
const Vector3 &	v () const
Vector3 &	v ()
const Vector3 &	w () const
Vector3 &	w ()
const Vector3 &	dv () const
Vector3 &	dv ()
const Vector3 &	dw () const
Vector3 &	dw ()
const Vector3 &	c () const
	center of mass (self local) More...
const Vector3 &	centerOfMass () const
const Vector3 &	wc () const
	center of mass (world coordinate) More...
const Vector3 &	centerOfMassGlobal () const
Vector3 &	wc ()
double	m () const
	mass More...
double	mass () const
	inertia tensor (self local, around c) More...
const Matrix3 &	I () const
double	Jm2 () const
	Equivalent rotor inertia: n^2*Jm [kg.m^2]. More...
const Vector6 &	F_ext () const
Vector6 &	F_ext ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	f_ext () const
Vector6::FixedSegmentReturnType< 3 >::Type	f_ext ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	tau_ext () const
Vector6::FixedSegmentReturnType< 3 >::Type	tau_ext ()
const std::string &	name () const
SgNode *	shape () const
SgNode *	visualShape () const
SgNode *	collisionShape () const
void	setIndex (int index)
bool	removeChild (Link *link)
void	setOffsetPosition (const Position &T)
template<typename Derived >
void	setOffsetTranslation (const Eigen::MatrixBase< Derived > &offset)
template<typename Derived >
void	setOffsetRotation (const Eigen::MatrixBase< Derived > &offset)
template<typename T >
void	setOffsetRotation (const Eigen::AngleAxis< T > &a)
template<typename Derived >
void	setAccumulatedSegmentRotation (const Eigen::MatrixBase< Derived > &Rs)
void	setJointType (JointType type)
void	setJointId (int id)
void	setJointAxis (const Vector3 &axis)
void	setJointRange (double lower, double upper)
void	setJointVelocityRange (double lower, double upper)
void	setCenterOfMass (const Vector3 &c)
void	setMass (double m)
void	setInertia (const Matrix3 &I)
void	setEquivalentRotorInertia (double Jm2)
void	setName (const std::string &name)
void	setShape (SgNode *shape)
void	setVisualShape (SgNode *shape)
void	setCollisionShape (SgNode *shape)
Matrix3	attitude () const
void	setAttitude (const Matrix3 &Ra)
Matrix3	calcRfromAttitude (const Matrix3 &Ra)
const Mapping *	info () const
Mapping *	info ()
template<typename T >
T	info (const std::string &key) const
template<typename T >
T	info (const std::string &key, const T &defaultValue) const
template<typename T >
void	setInfo (const std::string &key, const T &value)
void	resetInfo (Mapping *info)
double	initialJointDisplacement () const
double &	initialJointDisplacement ()
template<>
double	info (const std::string &key) const
template<>
double	info (const std::string &key, const double &defaultValue) const
template<>
void	setInfo (const std::string &key, const double &value)
template<>
CNOID_EXPORT double	info (const std::string &key) const
template<>
CNOID_EXPORT double	info (const std::string &key, const double &defaultValue) const
template<>
CNOID_EXPORT void	setInfo (const std::string &key, const double &value)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()
void	addRef ()
void	releaseRef ()

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Public Attributes inherited from cnoid::Link
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Additional Inherited Members
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &org)
int	refCount () const

Detailed Description

A Link class used for forward dynamics based on the articulated body method (ABM)

Member Typedef Documentation

ConstraintForceArray

typedef std::vector<ConstraintForce> cnoid::DyLink::ConstraintForceArray

Constructor & Destructor Documentation

DyLink() [1/2]

DyLink::DyLink

(

)

DyLink() [2/2]

DyLink::DyLink

(

const Link &

link

)

Member Function Documentation

appendChild()

void DyLink::appendChild ( Link *  link )

virtual

Reimplemented from cnoid::Link.

child()

DyLink* cnoid::DyLink::child ( ) const

inline

constraintForces() [1/2]

ConstraintForceArray& cnoid::DyLink::constraintForces ( )

inline

constraintForces() [2/2]

const ConstraintForceArray& cnoid::DyLink::constraintForces ( ) const

inline

cv() [1/2]

const Vector3& cnoid::DyLink::cv ( ) const

inline

cv() [2/2]

Vector3& cnoid::DyLink::cv ( )

inline

cw() [1/2]

const Vector3& cnoid::DyLink::cw ( ) const

inline

cw() [2/2]

Vector3& cnoid::DyLink::cw ( )

inline

dd() [1/2]

double cnoid::DyLink::dd ( ) const

inline

dd() [2/2]

double& cnoid::DyLink::dd ( )

inline

dvo() [1/2]

const Vector3& cnoid::DyLink::dvo ( ) const

inline

dvo() [2/2]

Vector3& cnoid::DyLink::dvo ( )

inline

hhv() [1/2]

const Vector3& cnoid::DyLink::hhv ( ) const

inline

hhv() [2/2]

Vector3& cnoid::DyLink::hhv ( )

inline

hhw() [1/2]

const Vector3& cnoid::DyLink::hhw ( ) const

inline

hhw() [2/2]

Vector3& cnoid::DyLink::hhw ( )

inline

Ivv() [1/2]

const Matrix3& cnoid::DyLink::Ivv ( ) const

inline

Ivv() [2/2]

Matrix3& cnoid::DyLink::Ivv ( )

inline

Iwv() [1/2]

const Matrix3& cnoid::DyLink::Iwv ( ) const

inline

Iwv() [2/2]

Matrix3& cnoid::DyLink::Iwv ( )

inline

Iww() [1/2]

const Matrix3& cnoid::DyLink::Iww ( ) const

inline

Iww() [2/2]

Matrix3& cnoid::DyLink::Iww ( )

inline

parent()

DyLink* cnoid::DyLink::parent ( ) const

inline

pf() [1/2]

const Vector3& cnoid::DyLink::pf ( ) const

inline

pf() [2/2]

Vector3& cnoid::DyLink::pf ( )

inline

prependChild()

void DyLink::prependChild ( Link *  link )

virtual

Reimplemented from cnoid::Link.

ptau() [1/2]

const Vector3& cnoid::DyLink::ptau ( ) const

inline

ptau() [2/2]

Vector3& cnoid::DyLink::ptau ( )

inline

sibling()

DyLink* cnoid::DyLink::sibling ( ) const

inline

sv() [1/2]

const Vector3& cnoid::DyLink::sv ( ) const

inline

sv() [2/2]

Vector3& cnoid::DyLink::sv ( )

inline

sw() [1/2]

const Vector3& cnoid::DyLink::sw ( ) const

inline

sw() [2/2]

Vector3& cnoid::DyLink::sw ( )

inline

uu() [1/2]

double cnoid::DyLink::uu ( ) const

inline

uu() [2/2]

double& cnoid::DyLink::uu ( )

inline

vo() [1/2]

const Vector3& cnoid::DyLink::vo ( ) const

inline

vo() [2/2]

Vector3& cnoid::DyLink::vo ( )

inline

Member Data Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

cnoid::DyLink::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

---

The documentation for this class was generated from the following files:

• DyBody.h
• DyBody.cpp