KrisLibrary  1.0.0
Public Member Functions | Public Attributes | List of all members
DynamicChain3D Class Reference
Inheritance diagram for DynamicChain3D:
KinematicChain3DTemplate< DynamicLink3D > Chain

Public Member Functions

void Initialize (int numBodies)
 
void UpdateDynamics ()
 
void Update_J ()
 
void Update_dB_dq ()
 
bool GetJacobianDeriv (const Vector3 &pm, int m, int i, int j, Vector3 &ddtheta, Vector3 &ddp) const
 
void GetJacobianDeriv_Fast (const Vector3 &pm, int m, int i, int j, Vector3 &ddtheta, Vector3 &ddp) const
 
void GetHessian (const Vector3 &pm, int m, Matrix *Htheta[3], Matrix *Hp[3]) const
 
void GetDirectionalHessian (const Vector3 &pm, int m, const Vector3 &v, Matrix &Hpv) const
 
bool GetJacobianDt (const Vector3 &pi, int i, int j, Vector3 &dtheta_dt, Vector3 &dp_dt) const
 
void GetWorldAcceleration (const Vector3 &pi, int i, const Vector &ddq, Vector3 &dw, Vector3 &dv) const
 
void GetResidualAcceleration (const Vector3 &pi, int i, Vector3 &dw, Vector3 &dv) const
 
Real GetTotalMass () const
 
Vector3 GetCOM () const
 
void GetCOMJacobian (Matrix &Jc) const
 
void GetCOMHessian (Matrix &Hx, Matrix &Hy, Matrix &Hz) const
 
Real GetKineticEnergy (int i) const
 
Real GetKineticEnergy () const
 
void GetKineticEnergyMatrix (Matrix &B) const
 
Real GetKineticEnergyDeriv (int i, int j, int z) const
 
void GetKineticEnergyMatrixDeriv (int z, Matrix &dB) const
 
void GetKineticEnergyMatrixTimeDeriv (Matrix &dB) const
 
void GetCoriolisForceMatrix (Matrix &C)
 
void GetCoriolisForces (Vector &Cdq)
 
void GetForceVector (const Vector3 &torque, const Vector3 &force, int i, Vector &F) const
 
void AddForceVector (const Vector3 &torque, const Vector3 &force, int i, Vector &F) const
 
void GetGravityVector (const Vector3 &g0, Vector &G) const
 
Real GetGravityPotentialEnergy (const Vector3 &g0)
 
void GetAcceleration (Vector &ddq, const Vector &fext)
 
- Public Member Functions inherited from KinematicChain3DTemplate< DynamicLink3D >
void Initialize (int numLinks)
 
virtual std::string LinkName (int i) const
 
bool InJointLimits (const Vector &q) const
 
void UpdateFrames ()
 
void GetWorldPosition (const Vector3 &pi, int i, Vector3 &p) const
 
const Matrix3GetWorldRotation (int i) const
 
void GetWorldRotation_Moment (int i, Vector3 &m) const
 
void GetWorldVelocity (const Vector3 &pi, int i, const Vector &dq, Vector3 &dp) const
 
void GetWorldAngularVelocity (int i, const Vector &dq, Vector3 &omega) const
 
bool GetWorldRotationDeriv (int i, int j, Matrix3 &dR) const
 
bool GetWorldRotationDeriv_Moment (int i, int j, Vector3 &dm) const
 
bool GetWorldRotationDeriv_Moment (int i, int j, const Vector3 &m, Vector3 &dm) const
 
bool GetJacobian (const Vector3 &pi, int i, int j, Vector3 &dw, Vector3 &dv) const
 
bool GetOrientationJacobian (int i, int j, Vector3 &dw) const
 
bool GetPositionJacobian (const Vector3 &pi, int i, int j, Vector3 &dv) const
 
void GetPositionJacobian (const Vector3 &pi, int i, Matrix &J) const
 
void GetFullJacobian (const Vector3 &pi, int i, Matrix &J) const
 
- Public Member Functions inherited from Chain
bool HasValidOrdering () const
 
bool IsAncestor (int n, int p) const
 Returns true if p is an ancestor of n.
 
bool IsDescendent (int n, int c) const
 Returns true if c is a descendant of n.
 
int LCA (int a, int b) const
 Least common ancestor.
 
void GetChildList (std::vector< std::vector< int > > &children) const
 Returns a vector where element i is a vectors of the children of link i.
 
void GetAncestors (int k, std::vector< bool > &ancestors) const
 Returns a vector where element i is true if it is an ancestor of n.
 
void GetDescendants (int k, std::vector< bool > &descendants) const
 Returns a vector where element i is true if it is an descendant of n.
 

Public Attributes

Vector dq
 
Array2D< Vector3JP
 
Array2D< Vector3JO
 
std::vector< Matrix > dB_dq
 
- Public Attributes inherited from KinematicChain3DTemplate< DynamicLink3D >
std::vector< DynamicLink3Dlinks
 
Vector q
 
Vector qMin
 
Vector qMax
 
- Public Attributes inherited from Chain
std::vector< int > parents
 Topologically sorted list of parents.
 

Additional Inherited Members

- Public Types inherited from Chain
enum  { NoParent = -1 }
 

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