Abstract class for articulated bodies. More...

#include <ArticulatedBody.h>

Inheritance diagram for ARTICULATED_BODY:

Public Member Functions
virtual bool	is_floating_base () const =0

virtual boost::shared_ptr < RIGIDBODY >	get_base_link () const =0

unsigned	num_constraint_eqns_explicit () const
	Gets the number of explicit joint constraint equations.

unsigned	num_constraint_eqns_implicit () const
	Gets the number of implicit joint constraint equations.

virtual void	rotate (const QUAT &q)
	Transforms all links in the articulated body by the given transform. More...

virtual void	translate (const ORIGIN3 &o)
	Transforms all links in the articulated body by the given transform. More...

virtual REAL	calc_kinetic_energy (boost::shared_ptr< const POSE3 > P=boost::shared_ptr< const POSE3 >())
	Calculates the combined kinetic energy of all links in this body with respect to the base frame.

boost::shared_ptr< RIGIDBODY >	find_link (const std::string &id) const

boost::shared_ptr< JOINT >	find_joint (const std::string &id) const

void	get_adjacent_links (std::list< sorted_pair< boost::shared_ptr< RIGIDBODY > > > &links) const

virtual void	set_links_and_joints (const std::vector< boost::shared_ptr< RIGIDBODY > > &links, const std::vector< boost::shared_ptr< JOINT > > &joints)

virtual unsigned	num_joint_dof () const
	Gets the number of joint degrees of freedom permitted by both implicit and explicit joint constraints.

void	find_loops (std::vector< unsigned > &loop_indices, std::vector< std::vector< unsigned > > &loop_links) const

virtual MATRIXN &	calc_jacobian (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)
	The Jacobian transforms from the generalized coordinate from to the given frame.

virtual MATRIXN &	calc_jacobian_dot (boost::shared_ptr< const POSE3 > source_pose, boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)

virtual MATRIXN &	calc_jacobian (boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)

virtual MATRIXN &	calc_jacobian_dot (boost::shared_ptr< const POSE3 > target_pose, boost::shared_ptr< DYNAMIC_BODY > body, MATRIXN &J)

virtual bool	is_enabled () const
	Articulated bodies are always enabled.

virtual unsigned	num_joint_dof_explicit () const =0
	Gets the number of degrees-of-freedom permitted by explicit constraints.

virtual unsigned	num_joint_dof_implicit () const =0
	Gets the number of degrees-of-freedom permitted by implicit constraints.

virtual const std::vector < boost::shared_ptr< RIGIDBODY > > &	get_links () const
	Gets the set of links.

virtual const std::vector < boost::shared_ptr< JOINT > > &	get_joints () const
	Gets the set of joints.

virtual const std::vector < boost::shared_ptr< JOINT > > &	get_explicit_joints () const =0
	Gets the set of explicit joints.

virtual const std::vector < boost::shared_ptr< JOINT > > &	get_implicit_joints () const =0
	Gets the set of implicit joints.

boost::shared_ptr < ARTICULATED_BODY >	get_this ()
	Gets shared pointer to this object as type ARTICULATED_BODY.

boost::shared_ptr< const ARTICULATED_BODY >	get_this () const
	Gets shared pointer to this object as type const ArticulateBody.

virtual void	apply_impulse (const SMOMENTUM &w, boost::shared_ptr< RIGIDBODY > link)=0
	Abstract method for applying an impulse to this articulated body. More...

virtual void	reset_accumulators ()=0
	Method for resetting the force and torque accumulators on all links. More...

Public Member Functions inherited from DYNAMIC_BODY
virtual void	validate_position_variables ()
	Validates position-based variables (potentially dangerous for a user to call)

virtual void	validate_velocity_variables ()
	Validates velocity-based variables (potentially dangerous for a user to call)

virtual void	set_computation_frame_type (ReferenceFrameType rftype)=0
	Sets the computation frame type for this body.

ReferenceFrameType	get_computation_frame_type () const
	Gets the computation frame type for this body.

virtual void	calc_fwd_dyn ()=0
	Forces a recalculation of forward dynamics.

virtual boost::shared_ptr < const POSE3 >	get_gc_pose () const =0
	Gets the frame for generalized coordinates.

virtual unsigned	num_generalized_coordinates (GeneralizedCoordinateType gctype) const =0
	Gets the number of generalized coordinates.

virtual void	set_generalized_forces (const SHAREDVECTORN &gf)=0
	Sets the generalized forces on the body.

virtual void	set_generalized_forces (const VECTORN &gf)
	Sets the generalized forces on the body.

virtual void	add_generalized_force (const SHAREDVECTORN &gf)=0
	Adds a generalized force to the body.

virtual void	add_generalized_force (const VECTORN &gf)
	Adds a generalized force to the body.

virtual void	apply_generalized_impulse (const SHAREDVECTORN &gj)=0
	Applies a generalized impulse to the body.

virtual void	apply_generalized_impulse (const VECTORN &gj)
	Applies a generalized impulse to the body.

virtual SHAREDVECTORN &	get_generalized_coordinates_euler (SHAREDVECTORN &gc)=0
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual VECTORN &	get_generalized_coordinates_euler (VECTORN &gc)
	Gets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual SHAREDVECTORN &	get_generalized_velocity (GeneralizedCoordinateType gctype, SHAREDVECTORN &gv)=0
	Gets the generalized velocity of this body.

virtual VECTORN &	get_generalized_velocity (GeneralizedCoordinateType gctype, VECTORN &gv)
	Gets the generalized velocity of this body.

virtual void	set_generalized_acceleration (const SHAREDVECTORN &ga)=0
	Sets the generalized velocity of this body.

virtual void	set_generalized_acceleration (const VECTORN &ga)
	Sets the generalized acceleration of this body.

virtual SHAREDVECTORN &	get_generalized_acceleration (SHAREDVECTORN &ga)=0
	Gets the generalized velocity of this body.

virtual VECTORN &	get_generalized_acceleration (VECTORN &ga)
	Gets the generalized acceleration of this body.

virtual void	set_generalized_coordinates_euler (const SHAREDVECTORN &gc)=0
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_coordinates_euler (const VECTORN &gc)
	Sets the generalized coordinates of this body (using Euler parameters for any rigid body orientations, if relevant)

virtual void	set_generalized_velocity (GeneralizedCoordinateType gctype, const SHAREDVECTORN &gv)=0
	Sets the generalized velocity of this body. More...

virtual void	set_generalized_velocity (GeneralizedCoordinateType gctype, const VECTORN &gv)
	Sets the generalized velocity of this body.

MATRIXN &	get_generalized_inertia (MATRIXN &M)
	Gets the generalized inertia of this body.

virtual SHAREDMATRIXN &	get_generalized_inertia (SHAREDMATRIXN &M)=0
	Gets the generalized inertia of this body.

virtual SHAREDMATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)=0
	Solves using the inverse generalized inertia.

virtual MATRIXN &	solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual MATRIXN &	solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves using the inverse generalized inertia.

virtual SHAREDMATRIXN &	solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const VECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual VECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, VECTORN &x)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const VECTORN &b, SHAREDVECTORN &x)
	Solves using the inverse generalized inertia.

virtual SHAREDVECTORN &	solve_generalized_inertia (const SHAREDVECTORN &b, SHAREDVECTORN &x)=0
	Solves using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual MATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, MATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const MATRIXN &B, SHAREDMATRIXN &X)
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDMATRIXN &	transpose_solve_generalized_inertia (const SHAREDMATRIXN &B, SHAREDMATRIXN &X)=0
	Solves the transpose matrix using the inverse generalized inertia.

virtual SHAREDVECTORN &	get_generalized_forces (SHAREDVECTORN &f)=0
	Gets the external forces on this body. More...

virtual VECTORN &	get_generalized_forces (VECTORN &f)
	Gets the external forces on this body. More...

virtual SHAREDVECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, SHAREDVECTORN &gf)=0
	Converts a force to a generalized force. More...

virtual VECTORN &	convert_to_generalized_force (boost::shared_ptr< SINGLE_BODY > body, const SFORCE &w, VECTORN &gf)
	Converts a force to a generalized force. More...

Public Member Functions inherited from Ravelin::virtual_enable_shared_from_this< DYNAMIC_BODY >
boost::shared_ptr< DYNAMIC_BODY >	shared_from_this ()

boost::shared_ptr< const DYNAMIC_BODY >	shared_from_this () const

Protected Member Functions
virtual void	compile ()
	Method for "compiling" the body. More...

Protected Attributes
std::vector< unsigned >	_processed
	Vector for processing links.

std::vector< boost::shared_ptr < RIGIDBODY > >	_links
	The set of links for this articulated body.

std::vector< boost::shared_ptr < JOINT > >	_joints
	The set of joints for this articulated body.

Protected Attributes inherited from DYNAMIC_BODY
ReferenceFrameType	_rftype
	The computation frame type.

VECTORN	gc
	Temporaries for use with integration.

VECTORN	gv

VECTORN	gcgv

VECTORN	xp

VECTORN	xv

VECTORN	xa

Additional Inherited Members
Public Types inherited from DYNAMIC_BODY
enum	GeneralizedCoordinateType { eEuler, eSpatial }

Public Attributes inherited from DYNAMIC_BODY
std::string	body_id
	The identifier for this body.

Detailed Description

Abstract class for articulated bodies.

Member Function Documentation

virtual void ARTICULATED_BODY::apply_impulse	(	const SMOMENTUM &	w,
		boost::shared_ptr< RIGIDBODY >	link
	)

pure virtual

Abstract method for applying an impulse to this articulated body.

Parameters

w	the impulsive force
link	link in the articulated body where the impulse is applied

Implemented in RC_ARTICULATED_BODY.

void ARTICULATED_BODY::compile ( )

protectedvirtual

Method for "compiling" the body.

"Compiles" the articulated body

Compilation is necessary anytime the structure or topolgy of the body changes. Generally, this will only be necessary once - after a call to set_links() or set_joints().

Reimplemented in RC_ARTICULATED_BODY.

Referenced by RC_ARTICULATED_BODY::compile().

void ARTICULATED_BODY::reset_accumulators ( )

pure virtual

Method for resetting the force and torque accumulators on all links.

Resets force and torque accumulators on the body.

Force and torque accumulators on all links are reset.

Implements DYNAMIC_BODY.

Implemented in RC_ARTICULATED_BODY.

References _links.

void ARTICULATED_BODY::rotate ( const QUAT & q )

virtual