Abstract class for articulated bodies. More...
#include <ArticulatedBodyd.h>
Inheritance diagram for Ravelin::ARTICULATED_BODY:
Public Member Functions | |
| virtual bool | is_floating_base () const =0 |
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virtual boost::shared_ptr < RIGIDBODY > | get_base_link () const =0 |
| unsigned | num_constraint_eqns_explicit () const |
| unsigned | num_constraint_eqns_implicit () const |
| virtual void | rotate (const QUAT &q) |
| Rotates the dynamic body by the given orientation. | |
| virtual void | translate (const ORIGIN3 &o) |
| Translates the dynamic body by the given translation. | |
| virtual REAL | calc_kinetic_energy (boost::shared_ptr< const POSE3 > P=boost::shared_ptr< const POSE3 >()) |
| Calculates the kinetic energy of the body in an arbitrary 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 |
| 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. | |
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virtual const std::vector < boost::shared_ptr< RIGIDBODY > > & | get_links () const |
| Gets the set of links. | |
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virtual const std::vector < boost::shared_ptr< JOINT > > & | get_joints () const |
| Gets the set of joints. | |
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virtual const std::vector < boost::shared_ptr< JOINT > > & | get_explicit_joints () const =0 |
| Gets the set of explicit joints. | |
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virtual const std::vector < boost::shared_ptr< JOINT > > & | get_implicit_joints () const =0 |
| Gets the set of implicit joints. | |
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boost::shared_ptr < ARTICULATED_BODY > | get_this () |
| Gets shared pointer to this object as type ARTICULATED_BODY. | |
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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. | |
| virtual bool | is_floating_base () const =0 |
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virtual boost::shared_ptr < RIGIDBODY > | get_base_link () const =0 |
| unsigned | num_constraint_eqns_explicit () const |
| unsigned | num_constraint_eqns_implicit () const |
| virtual void | rotate (const QUAT &q) |
| Rotates the dynamic body by the given orientation. | |
| virtual void | translate (const ORIGIN3 &o) |
| Translates the dynamic body by the given translation. | |
| virtual REAL | calc_kinetic_energy (boost::shared_ptr< const POSE3 > P=boost::shared_ptr< const POSE3 >()) |
| Calculates the kinetic energy of the body in an arbitrary 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 |
| 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. | |
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virtual const std::vector < boost::shared_ptr< RIGIDBODY > > & | get_links () const |
| Gets the set of links. | |
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virtual const std::vector < boost::shared_ptr< JOINT > > & | get_joints () const |
| Gets the set of joints. | |
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virtual const std::vector < boost::shared_ptr< JOINT > > & | get_explicit_joints () const =0 |
| Gets the set of explicit joints. | |
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virtual const std::vector < boost::shared_ptr< JOINT > > & | get_implicit_joints () const =0 |
| Gets the set of implicit joints. | |
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boost::shared_ptr < ARTICULATED_BODY > | get_this () |
| Gets shared pointer to this object as type ARTICULATED_BODY. | |
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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. | |
 Public Member Functions inherited from Ravelin::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. | |
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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... | |
| 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. | |
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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 () |
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boost::shared_ptr< const DYNAMIC_BODY > | shared_from_this () const |
Protected Member Functions | |
| virtual void | compile () |
| Method for "compiling" the body. More... | |
| virtual void | compile () |
| Method for "compiling" the body. More... | |
Protected Attributes | |
| std::vector< unsigned > | _processed |
| Vector for processing links. | |
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std::vector< boost::shared_ptr < RIGIDBODY > > | _links |
| The set of links for this articulated body. | |
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std::vector< boost::shared_ptr < JOINT > > | _joints |
| The set of joints for this articulated body. | |
| Protected Attributes inherited from Ravelin::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 Ravelin::DYNAMIC_BODY | |
| enum | GeneralizedCoordinateType { eEuler, eSpatial, eEuler, eSpatial } |
| enum | GeneralizedCoordinateType { eEuler, eSpatial, eEuler, eSpatial } |
| Public Attributes inherited from Ravelin::DYNAMIC_BODY | |
| std::string | body_id |
| The identifier for this body. | |
Detailed Description
Abstract class for articulated bodies.
Member Function Documentation
|
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 Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.
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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 Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.
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protectedvirtual |
Method for "compiling" the 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 Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.
|
protectedvirtual |
Method for "compiling" the 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 Ravelin::RC_ARTICULATED_BODY, and Ravelin::RC_ARTICULATED_BODY.
The documentation for this class was generated from the following files:
- /home/drum/Ravelin.new/include/Ravelin/ArticulatedBodyd.h
- /home/drum/Ravelin.new/include/Ravelin/ArticulatedBodyf.h
