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void | Initialize (int numBodies) |
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void | UpdateDynamics () |
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void | Update_J () |
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void | Update_dB_dq () |
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bool | GetJacobianDeriv (const Vector2 &pi, int i, int j, int k, Real &ddtheta, Vector2 &ddp) const |
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Vector2 | GetCenterOfMass () const |
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Real | GetKineticEnergy (int i) const |
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Real | GetKineticEnergy () const |
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void | GetKineticEnergyMatrix (Matrix &B) const |
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Real | GetKineticEnergyDeriv (int i, int j, int z) const |
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void | GetKineticEnergyMatrixDeriv (int z, Matrix &dB) const |
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void | GetKineticEnergyMatrixTimeDeriv (Matrix &dB) const |
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void | GetCoriolisForceMatrix (Matrix &C) |
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void | GetCoriolisForces (Vector &Cdq) |
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void | GetForceVector (Real torque, const Vector2 &force, int i, Vector &F) const |
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void | AddForceVector (Real torque, const Vector2 &force, int i, Vector &F) const |
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void | GetGravityVector (const Vector2 &g0, Vector &G) const |
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Real | GetGravityPotentialEnergy (const Vector2 &g0) |
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void | GetAcceleration (Vector &ddq, const Vector &fext) |
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void | Initialize (int numLinks) |
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virtual std::string | LinkName (int i) const |
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bool | InJointLimits (const Vector &q) const |
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void | UpdateFrames () |
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void | GetWorldPosition (const Vector2 &pi, int i, Vector2 &p) const |
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void | GetWorldRotation (int i, Real &theta) const |
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void | GetWorldVelocity (const Vector2 &pi, int i, const Vector &dq, Vector2 &dp) const |
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void | GetWorldAngularVelocity (int i, const Vector &dq, Real &dtheta) const |
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bool | GetJacobian (const Vector2 &pi, int i, int j, Real &dw, Vector2 &dv) const |
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bool | GetOrientationJacobian (int i, int j, Real &dw) const |
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bool | GetPositionJacobian (const Vector2 &pi, int i, int j, Vector2 &dv) const |
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void | GetPositionJacobian (const Vector2 &pi, int i, Matrix &J) const |
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void | GetFullJacobian (const Vector2 &pi, int i, Matrix &J) const |
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bool | HasValidOrdering () const |
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bool | IsAncestor (int n, int p) const |
| | Returns true if p is an ancestor of n.
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bool | IsDescendent (int n, int c) const |
| | Returns true if c is a descendant of n.
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int | LCA (int a, int b) const |
| | Least common ancestor.
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void | GetChildList (std::vector< std::vector< int > > &children) const |
| | Returns a vector where element i is a vectors of the children of link i.
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void | GetAncestors (int k, std::vector< bool > &ancestors) const |
| | Returns a vector where element i is true if it is an ancestor of n.
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void | GetDescendants (int k, std::vector< bool > &descendants) const |
| | Returns a vector where element i is true if it is an descendant of n.
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Public Member Functions inherited from KinematicChain2DTemplate< DynamicLink2D >