Ravelin Namespace Reference

Classes
class	AANGLE
	Class for representation of orientation by an angle around an axis. More...
class	ARTICULATED_BODY
	Abstract class for articulated bodies. More...
class	COLUMN_ITERATOR
	A construct for iterating over a rectangular block of a matrix. More...
class	CONST_COLUMN_ITERATOR
	A construct for iterating over a rectangular block of a matrix. More...
class	CRB_ALGORITHM
	Computes forward dynamics using composite-rigid body method. More...
class	DataMismatchException
	Exception thrown when trying to initialize a fixed size vector/matrix with the wrong size. More...
class	DYNAMIC_BODY
	Superclass for deformable bodies and single and multi-rigid bodies. More...
class	FastThreadable
	This class exists solely to make static declaration of dynamically allocated variables safe. More...
class	FIXEDJOINT
	Defines a joint for fixing two bodies together or fixing one body to the ground. More...
class	FrameException
	Exception thrown when trying to mix types from two different frames. More...
class	FSAB_ALGORITHM
	Implements Featherstone's algorithm for forward dynamics. More...
class	InvalidIndexException
	Exception thrown when trying to access the index beyond the range of the data. More...
class	InvalidTransformException
	Exception thrown when general numerical error occurs. More...
class	JOINT
	Defines a bilateral constraint (a joint) More...
class	LINALG
	Linear algebra routines. More...
struct	OutputToFile
class	Log
class	MATRIX2
	A general 2x2 matrix. More...
class	MATRIX3
	A 3x3 matrix that may be used for orientation, inertia tensors, etc. More...
class	MATRIXN
	A generic, possibly non-square matrix. More...
class	MissizeException
	Exception thrown when trying to initialize a fixed size vector/matrix with the wrong size. More...
class	MOVINGTRANSFORM3
	A transformation between two rigid body poses. More...
class	NonsquareMatrixException
	Exception thrown when trying to initialize a fixed size vector/matrix with the wrong size. More...
class	NullPointerException
	Exception thrown when a pointer should be set but is not. More...
class	NumericalException
	Exception thrown when general numerical error occurs. More...
class	OPS
	Class for general operations. More...
class	ORIGIN2
	A two-dimensional floating point vector used for computational geometry calculations and without associated frame information. More...
class	ORIGIN3
	A three-dimensional floating point vector used for representing points and vectors in 3D and without associated frame information. More...
class	PLANARJOINT
	Defines a joint that constrains motion to a plane. More...
class	POSE2
	A 2D rigid body pose. More...
class	POSE3
	A rigid body pose. More...
class	PRISMATICJOINT
	Defines a sliding joint. More...
class	QUAT
	Quaternion class used for orientation. More...
class	RC_ARTICULATED_BODY
	Defines an articulated body for use with reduced-coordinate dynamics algorithms. More...
struct	RCArticulatedBodyInvDynData
	Wrapper class for passing data to and from inverse dynamics algorithms. More...
class	RCArticulatedBodyInvDynAlgo
	Abstract class for performing inverse dynamics computation on a reduced-coordinate articulatedc body. More...
class	REVOLUTEJOINT
	Defines a rotary joint. More...
class	RIGIDBODY
	Represents a single rigid body. More...
class	RNE_ALGORITHM
	Implementation of the Recursive Newton-Euler algorithm for inverse dynamics. More...
class	ROT2
	Represents an orientation in 2D. More...
class	ROW_ITERATOR
	A construct for iterating over a rectangular block of a matrix. More...
class	CONST_ROW_ITERATOR
	A construct for iterating over a rectangular block of a matrix. More...
class	SACCEL
	A spatial (six dimensional) acceleration. More...
class	SFORCE
	A spatial force (a wrench) More...
class	CONST_SHAREDMATRIXN
	A generic, possibly non-square matrix using constant shared data. More...
class	SHAREDMATRIXN
	A generic, possibly non-square matrix using shared data. More...
class	SHAREDVECTORN
	A generic N-dimensional floating point vector. More...
class	CONST_SHAREDVECTORN
	A generic N-dimensional floating point vector. More...
class	SINGLE_BODY
	Superclass for both rigid and deformable bodies. More...
class	SingularException
	Exception thrown when trying to invert/solve with a non-invertible matrix. More...
class	SMOMENTUM
	A spatial (six dimensional) momentum. More...
class	SPARSEMATRIXN
	A sparse matrix. More...
class	SPARSEVECTORN
	A sparse vector represented in 'CSR' format. More...
class	SPATIAL_AB_INERTIA
	A 6x6 spatial algebra matrix typically used for dynamics calculations. More...
class	SPARITH
	Class for spatial arithmetic. More...
class	SPATIAL_RB_INERTIA
	A 6x6 spatial algebra matrix used for dynamics calculations. More...
class	SPHERICALJOINT
	Defines a joint for purely rotational motion. More...
class	SVECTOR6
	A 6-dimensional floating-point vector for use with spatial algebra. More...
class	SVELOCITY
	A spatial velocity (a twist) More...
class	TRANSFORM2
	A transformation between 2D rigid body poses. More...
class	TRANSFORM3
	A transformation between two rigid body poses. More...
class	UndefinedAxisException
	Exception thrown when axis has not been defined but user calls operation that requires its definition. More...
class	UNIVERSALJOINT
	Defines a joint for purely rotational motion. More...
class	URDFREADER
	Used to read the simulator state from URDF. More...
class	VECTOR2
	A two-dimensional floating point vector used for computational geometry calculations and with associated frame information. More...
class	VECTOR3
	A three-dimensional floating point vector used for representing points and vectors in 3D with associated frame information. More...
class	VECTORN
	A generic N-dimensional floating point vector. More...
struct	virtual_enable_shared_from_this_base
struct	virtual_enable_shared_from_this
class	XMLAttrib
	Attributes used for XML nodes. More...
class	XMLTree
	An XML tree used for serialization. More...

Enumerations
enum	Transposition { eNoTranspose, eTranspose }
enum	ReferenceFrameType { eGlobal, eLink, eLinkCOM, eJoint }
	reference frame type for reduced-coordinate dynamics computations

Functions
std::ostream &	operator<< (std::ostream &out, const AANGLE &a)
	Sends the representation to the specified stream.
std::ostream &	operator<< (std::ostream &out, const MATRIX2 &m)
	Outputs this matrix to the stream.
std::ostream &	operator<< (std::ostream &out, const MATRIX3 &m)
	Outputs this matrix to the stream.
std::ostream &	operator<< (std::ostream &out, const MATRIXN &m)
std::istream &	operator>> (std::istream &in, MATRIXN &m)
std::ostream &	operator<< (std::ostream &out, const MOVINGTRANSFORM3 &m)
ORIGIN2	operator* (REAL scalar, const ORIGIN2 &v)
std::ostream &	operator<< (std::ostream &out, const ORIGIN2 &v)
	Writes a ORIGIN2 to the specified stream.
ORIGIN3	operator* (REAL scalar, const ORIGIN3 &v)
std::ostream &	operator<< (std::ostream &out, const ORIGIN3 &v)
	Writes a ORIGIN3 to the specified stream.
std::ostream &	operator<< (std::ostream &out, const POSE2 &m)
	Outputs this matrix to the stream.
std::ostream &	operator<< (std::ostream &out, const POSE3 &m)
	Outputs this matrix to the stream.
QUAT	operator* (REAL scalar, const QUAT &q)
	Computes the product between a quaternion and a scalar.
std::ostream &	operator<< (std::ostream &out, const QUAT &q)
	Sends the quaternion to the output stream.
std::ostream &	operator<< (std::ostream &out, const ROT2 &q)
std::ostream &	operator<< (std::ostream &out, const SACCEL &t)
std::ostream &	operator<< (std::ostream &out, const SFORCE &w)
std::ostream &	operator<< (std::ostream &out, const SHAREDMATRIXN &m)
std::ostream &	operator<< (std::ostream &out, const CONST_SHAREDMATRIXN &m)
	Outputs this matrix to the stream.
std::istream &	operator>> (std::istream &in, SHAREDMATRIXN &m)
std::ostream &	operator<< (std::ostream &out, const SHAREDVECTORN &v)
std::istream &	operator>> (std::istream &in, SHAREDVECTORN &v)
std::ostream &	operator<< (std::ostream &out, const CONST_SHAREDVECTORN &v)
	Writes a XVECTORN to the specified stream.
std::ostream &	operator<< (std::ostream &out, const SMOMENTUM &w)
std::ostream &	operator<< (std::ostream &out, const SPARSEMATRIXN &s)
std::ostream &	operator<< (std::ostream &out, const SPARSEVECTORN &s)
std::ostream &	operator<< (std::ostream &out, const SPATIAL_AB_INERTIA &m)
	Outputs this matrix to the stream.
std::ostream &	operator<< (std::ostream &out, const SPATIAL_RB_INERTIA &m)
	Outputs this matrix to the stream.
std::ostream &	operator<< (std::ostream &out, const SVECTOR6 &v)
std::ostream &	operator<< (std::ostream &out, const SVELOCITY &t)
std::ostream &	operator<< (std::ostream &out, const TRANSFORM2 &m)
	Outputs this matrix to the stream.
std::ostream &	operator<< (std::ostream &out, const TRANSFORM3 &m)
	Outputs this matrix to the stream.
VECTOR2	operator* (REAL scalar, const VECTOR2 &v)
std::ostream &	operator<< (std::ostream &out, const VECTOR2 &v)
	Writes a VECTOR2 to the specified stream.
VECTOR3	operator* (REAL scalar, const VECTOR3 &v)
std::ostream &	operator<< (std::ostream &out, const VECTOR3 &v)
	Writes a VECTOR3 to the specified stream.
std::ostream &	operator<< (std::ostream &out, const VECTORN &v)
std::istream &	operator>> (std::istream &in, VECTORN &v)
std::ostream &	operator<< (std::ostream &out, const XMLTree &tree)
	Sends the specified XMLTree node to the given stream.
std::ostream &	operator<< (std::ostream &out, const XMLAttrib &attr)
	Sends the specified XMLAttrib to the given stream.

Variables
const unsigned	LOG_DYNAMICS = 4
const double	EPS_DOUBLE = std::sqrt(std::numeric_limits<double>::epsilon())
const float	EPS_FLOAT = std::sqrt(std::numeric_limits<float>::epsilon())

Detailed Description

A bunch of typedefs to make things more readable.