Public Member Functions |
EIGEN_MAKE_ALIGNED_OPERATOR_NEW | Kinematic () |
virtual | ~Kinematic () |
Model * | clone () const |
bool | calculateInversePosition (const ::rl::math::Transform &x, const ::std::size_t &iterations=1000) |
void | calculateJacobian () |
void | calculateJacobian (::rl::math::Matrix &J) |
void | calculateJacobianDerivative () |
void | calculateJacobianDerivative (::rl::math::Vector &Jdqd) |
void | calculateJacobianInverse (const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true) |
void | calculateJacobianInverse (const ::rl::math::Matrix &J,::rl::math::Matrix &invJ, const ::rl::math::Real &lambda=0.0f, const bool &doSvd=true) const |
::rl::math::Real | calculateManipulabilityMeasure () const |
::rl::math::Real | calculateManipulabilityMeasure (const ::rl::math::Matrix &J) const |
void | forwardAcceleration () |
void | forwardPosition () |
void | forwardVelocity () |
const ::rl::math::Matrix & | getJacobian () const |
const ::rl::math::Vector & | getJacobianDerivative () const |
const ::rl::math::Matrix & | getJacobianInverse () const |
void | inverseVelocity (const ::rl::math::Real &lambda=1) |
bool | isSingular () const |
bool | isSingular (const ::rl::math::Matrix &J) const |
virtual void | update () |
| Metric () |
virtual | ~Metric () |
void | clip (::rl::math::Vector &q) const |
::rl::math::Real | distance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const |
void | interpolate (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2, const ::rl::math::Real &alpha,::rl::math::Vector &q) const |
::rl::math::Real | inverseOfTransformedDistance (const ::rl::math::Real &d) const |
bool | isValid (const ::rl::math::Vector &q) const |
::rl::math::Real | maxDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const |
::rl::math::Real | minDistanceToRectangle (const ::rl::math::Vector &q, const ::rl::math::Vector &min, const ::rl::math::Vector &max) const |
::rl::math::Real | minDistanceToRectangle (const ::rl::math::Real &q, const ::rl::math::Real &min, const ::rl::math::Real &max, const ::std::size_t &cuttingDimension) const |
::rl::math::Real | newDistance (const ::rl::math::Real &dist, const ::rl::math::Real &oldOff, const ::rl::math::Real &newOff, const int &cuttingDimension) const |
void | step (const ::rl::math::Vector &q1, const ::rl::math::Vector &qdot,::rl::math::Vector &q2) const |
::rl::math::Real | transformedDistance (const ::rl::math::Real &d) const |
::rl::math::Real | transformedDistance (const ::rl::math::Vector &q1, const ::rl::math::Vector &q2) const |
| Model () |
virtual | ~Model () |
void | add (Compound *compound, const Frame *a, const Frame *b) |
void | add (Frame *frame) |
void | add (Transform *transform, const Frame *a, const Frame *b) |
bool | areColliding (const ::std::size_t &i, const ::std::size_t &j) const |
void | getAcceleration (::rl::math::Vector &qdd) const |
::std::size_t | getBodies () const |
const Body * | getBody (const ::std::size_t &i) const |
::std::size_t | getDof () const |
const ::rl::math::Transform & | getFrame (const ::std::size_t &i) const |
const Joint * | getJoint (const ::std::size_t &i) const |
const ::rl::math::MotionVector & | getOperationalAcceleration (const ::std::size_t &i) const |
::std::size_t | getOperationalDof () const |
const ::rl::math::ForceVector & | getOperationalForce (const ::std::size_t &i) const |
const ::rl::math::Transform & | getOperationalPosition (const ::std::size_t &i) const |
const ::rl::math::MotionVector & | getOperationalVelocity (const ::std::size_t &i) const |
const ::std::string & | getManufacturer () const |
void | getMaximum (::rl::math::Vector &max) const |
void | getMinimum (::rl::math::Vector &min) const |
const ::std::string & | getName () const |
void | getPosition (::rl::math::Vector &q) const |
void | getTorque (::rl::math::Vector &tau) const |
void | getSpeed (::rl::math::Vector &speed) const |
void | getVelocity (::rl::math::Vector &qd) const |
bool | isColliding (const ::std::size_t &i) const |
void | replace (Compound *compound, Transform *transform) |
void | replace (Transform *transform, Compound *compound) |
void | remove (Compound *compound) |
void | remove (Frame *frame) |
void | remove (Transform *transform) |
void | setAcceleration (const ::rl::math::Vector &qdd) |
void | setManufacturer (const ::std::string &manufacturer) |
void | setName (const ::std::string &name) |
void | setOperationalVelocity (const ::std::size_t &i, const ::rl::math::MotionVector &v) const |
void | setPosition (const ::rl::math::Vector &q) |
void | setTorque (const ::rl::math::Vector &tau) |
void | setVelocity (const ::rl::math::Vector &qd) |
::rl::math::Transform & | tool (const ::std::size_t &i=0) |
const ::rl::math::Transform & | tool (const ::std::size_t &i=0) const |
::rl::math::Transform & | world () |
const ::rl::math::Transform & | world () const |
Additional Inherited Members |
typedef
::boost::adjacency_list
< ::boost::listS,::boost::listS,::boost::bidirectionalS,::boost::property
< ::boost::vertex_color_t,
Compound *,::boost::shared_ptr
< Frame > >,::boost::property
< ::boost::edge_weight_t,
Compound *,::boost::shared_ptr
< Transform >
>,::boost::no_property,::boost::listS > | Tree |
typedef ::boost::graph_traits
< Tree >::edge_descriptor | Edge |
typedef ::boost::graph_traits
< Tree >::edge_iterator | EdgeIterator |
typedef ::std::pair
< EdgeIterator, EdgeIterator > | EdgeIteratorPair |
typedef ::boost::graph_traits
< Tree >::in_edge_iterator | InEdgeIterator |
typedef ::std::pair
< InEdgeIterator,
InEdgeIterator > | InEdgeIteratorPair |
typedef ::boost::graph_traits
< Tree >::out_edge_iterator | OutEdgeIterator |
typedef ::std::pair
< OutEdgeIterator,
OutEdgeIterator > | OutEdgeIteratorPair |
typedef ::boost::graph_traits
< Tree >::vertex_descriptor | Vertex |
typedef ::boost::graph_traits
< Tree >::vertex_iterator | VertexIterator |
typedef ::std::pair
< VertexIterator,
VertexIterator > | VertexIteratorPair |
void | update (const Vertex &u) |