cnoid::DyLink Class Reference

#include <DyBody.h>

Inheritance diagram for cnoid::DyLink:

Public Types
typedef Link::ContactPoint	ConstraintForce
typedef std::vector< ContactPoint >	ConstraintForceArray
Public Types inherited from cnoid::Link
enum	JointType {   RevoluteJoint = 0, PrismaticJoint = 1, FreeJoint = 2, FixedJoint = 3,   PseudoContinuousTrackJoint = 4, REVOLUTE_JOINT = RevoluteJoint, ROTATIONAL_JOINT = RevoluteJoint, PRISMATIC_JOINT = PrismaticJoint,   SLIDE_JOINT = PrismaticJoint, FREE_JOINT = FreeJoint, FIXED_JOINT = FixedJoint, PSEUDO_CONTINUOUS_TRACK = PseudoContinuousTrackJoint }
enum	StateFlag {   StateNone = 0, JointDisplacement = 1 << 0, JointAngle = JointDisplacement, JointVelocity = 1 << 1,   JointAcceleration = 1 << 2, JointEffort = 1 << 3, JointForce = JointEffort, JointTorque = JointEffort,   LinkPosition = 1 << 4, LinkTwist = 1 << 5, LinkExtWrench = 1 << 6, LinkContactState = 1 << 7,   HighGainActuation = 1 << 8, DeprecatedJointSurfaceVelocity = 1 << 9, MaxStateTypeBit = 9, NumStateTypes = 10,   NO_ACTUATION = StateNone, JOINT_TORQUE = JointTorque, JOINT_FORCE = JointForce, JOINT_EFFORT = JointEffort,   JOINT_ANGLE = JointAngle, JOINT_DISPLACEMENT = JointDisplacement, JOINT_VELOCITY = JointVelocity, LINK_POSITION = LinkPosition }
typedef StateFlag	ActuationMode

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	DyLink ()
	DyLink (const DyLink &org)
	DyLink (const Link &link)
virtual void	initializeState () override
DySubBody *	subBody ()
bool	isSubBodyRoot () const
DyBody *	body ()
DyLink *	parent () const
DyLink *	sibling () const
DyLink *	child () const
const Vector3 &	vo () const
Vector3 &	vo ()
const Vector3 &	dvo () const
Vector3 &	dvo ()
const Vector3 &	sw () const
Vector3 &	sw ()
const Vector3 &	sv () const
Vector3 &	sv ()
const Vector3 &	cv () const
Vector3 &	cv ()
const Vector3 &	cw () const
Vector3 &	cw ()
const Matrix3 &	Iww () const
Matrix3 &	Iww ()
const Matrix3 &	Iwv () const
Matrix3 &	Iwv ()
const Matrix3 &	Ivv () const
Matrix3 &	Ivv ()
const Vector3 &	pf () const
Vector3 &	pf ()
const Vector3 &	ptau () const
Vector3 &	ptau ()
const Vector3 &	hhv () const
Vector3 &	hhv ()
const Vector3 &	hhw () const
Vector3 &	hhw ()
double	uu () const
double &	uu ()
double	dd () const
double &	dd ()
std::vector< ContactPoint > &	constraintForces ()
const std::vector< ContactPoint > &	constraintForces () const
virtual void	prependChild (Link *link) override
virtual void	appendChild (Link *link) override
Public Member Functions inherited from cnoid::Link
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Link ()
	Link (const Link &link)
Link *	clone () const
virtual	~Link ()
const std::string &	name () const
int	index () const
bool	isValid () const
bool	isRoot () const
bool	isStatic () const
bool	isFixedToRoot () const
bool	isOwnerOf (const Link *link) const
bool	isEndLink () const
Body *	body ()
const Body *	body () const
Link *	parent () const
Link *	sibling () const
Link *	child () const
Isometry3 &	T ()
const Isometry3 &	T () const
Isometry3 &	position ()
const Isometry3 &	position () const
template<class Scalar , int Mode, int Options>
void	setPosition (const Eigen::Transform< Scalar, 3, Mode, Options > &T)
template<class Derived >
void	setPosition (const Eigen::MatrixBase< Derived > &T)
template<typename Derived1 , typename Derived2 >
void	setPosition (const Eigen::MatrixBase< Derived1 > &rotation, const Eigen::MatrixBase< Derived2 > &translation)
Isometry3::TranslationPart	p ()
Isometry3::ConstTranslationPart	p () const
Isometry3::TranslationPart	translation ()
Isometry3::ConstTranslationPart	translation () const
template<typename Derived >
void	setTranslation (const Eigen::MatrixBase< Derived > &p)
Isometry3::LinearPart	R ()
Isometry3::ConstLinearPart	R () const
Isometry3::LinearPart	rotation ()
Isometry3::ConstLinearPart	rotation () const
template<typename Derived >
void	setRotation (const Eigen::MatrixBase< Derived > &R)
template<typename T >
void	setRotation (const Eigen::AngleAxis< T > &a)
template<typename Derived >
void	setRotation (const Eigen::QuaternionBase< Derived > &q)
const Isometry3 &	Tb () const
const Isometry3 &	offsetPosition () const
Isometry3::ConstTranslationPart	b () const
Isometry3::ConstTranslationPart	offsetTranslation () const
Isometry3::ConstLinearPart	Rb () const
Isometry3::ConstLinearPart	offsetRotation () const
Matrix3	Rs () const
int	jointId () const
const std::string &	jointName () const
const std::string &	jointSpecificName () const
JointType	jointType () const
const char *	jointTypeLabel () const
const char *	jointTypeSymbol () const
const char *	jointTypeString (bool useUnderscore=false) const
bool	isFixedJoint () const
bool	isFreeJoint () const
bool	isRevoluteJoint () const
bool	isPrismaticJoint () const
bool	hasJoint () const
bool	isRotationalJoint () const
	deprecated More...
bool	isSlideJoint () const
	deprecated More...
const Vector3 &	a () const
const Vector3 &	jointAxis () const
const Vector3 &	d () const
double	Jm2 () const
	Equivalent rotor inertia: n^2*Jm [kg.m^2]. More...
short	actuationMode () const
void	setActuationMode (short mode)
short	sensingMode () const
void	setSensingMode (short mode)
void	mergeSensingMode (short mode)
double	q () const
double &	q ()
double	dq () const
double &	dq ()
double	ddq () const
double &	ddq ()
double	u () const
double &	u ()
double	q_initial () const
const Vector3 &	v () const
Vector3 &	v ()
const Vector3 &	w () const
Vector3 &	w ()
const Vector3 &	dv () const
Vector3 &	dv ()
const Vector3 &	dw () const
Vector3 &	dw ()
const Vector3 &	c () const
	center of mass (self local) More...
const Vector3 &	centerOfMass () const
const Vector3 &	wc () const
	center of mass (world coordinate) More...
const Vector3 &	centerOfMassGlobal () const
Vector3 &	wc ()
double	m () const
	mass More...
const Matrix3 &	I () const
const Vector6 &	externalWrench () const
Vector6 &	externalWrench ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	externalForce () const
Vector6::FixedSegmentReturnType< 3 >::Type	externalForce ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	externalTorque () const
Vector6::FixedSegmentReturnType< 3 >::Type	externalTorque ()
const Vector6 &	F_ext () const
Vector6 &	F_ext ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	f_ext () const
Vector6::FixedSegmentReturnType< 3 >::Type	f_ext ()
Vector6::ConstFixedSegmentReturnType< 3 >::Type	tau_ext () const
Vector6::FixedSegmentReturnType< 3 >::Type	tau_ext ()
void	addExternalForceAtLocalPosition (const Vector3 &f_global, const Vector3 &p_local)
void	addExternalForceAtGlobalPosition (const Vector3 &f_global, const Vector3 &p_global)
void	addExternalForce (const Vector3 &f_global, const Vector3 &p_local)
int	materialId () const
std::string	materialName () const
std::vector< ContactPoint > &	contactPoints ()
const std::vector< ContactPoint > &	contactPoints () const
SgGroup *	shape () const
SgGroup *	visualShape () const
SgGroup *	collisionShape () const
bool	hasDedicatedCollisionShape () const
void	setBodyToSubTree (Body *newBody)
void	setParent (Link *parent)
void	setIndex (int index)
void	setName (const std::string &name)
bool	removeChild (Link *link)
void	setOffsetPosition (const Isometry3 &T)
template<typename Derived >
void	setOffsetTranslation (const Eigen::MatrixBase< Derived > &offset)
template<typename Derived >
void	setOffsetRotation (const Eigen::MatrixBase< Derived > &offset)
template<typename T >
void	setOffsetRotation (const Eigen::AngleAxis< T > &a)
template<typename Derived >
void	setAccumulatedSegmentRotation (const Eigen::MatrixBase< Derived > &)
void	setJointType (JointType type)
void	setJointId (int id)
void	setJointName (const std::string &name)
void	resetJointSpecificName ()
void	setJointAxis (const Vector3 &axis)
void	setInitialJointDisplacement (double q)
void	setInitialJointAngle (double q)
void	setJointRange (double lower, double upper)
void	setJointVelocityRange (double lower, double upper)
void	setCenterOfMass (const Vector3 &c)
void	setMass (double m)
void	setInertia (const Matrix3 &I)
void	setEquivalentRotorInertia (double Jm2)
void	setMaterial (int id)
void	setMaterial (const std::string &name)
void	addShapeNode (SgNode *shape, SgUpdateRef update=nullptr)
void	addVisualShapeNode (SgNode *shape, SgUpdateRef update=nullptr)
void	addCollisionShapeNode (SgNode *shape, SgUpdateRef update=nullptr)
void	removeShapeNode (SgNode *shape, SgUpdateRef update=nullptr)
void	clearShapeNodes (SgUpdateRef update=nullptr)
void	updateShapeRs ()
Isometry3	Ta () const
Matrix3	attitude () const
void	setAttitude (const Matrix3 &Ra)
Matrix3	calcRfromAttitude (const Matrix3 &Ra)
void	getAttitudeAndTranslation (Isometry3 &out_T)
const Mapping *	info () const
Mapping *	info ()
template<typename T >
T	info (const std::string &key) const
template<typename T >
T	info (const std::string &key, const T &defaultValue) const
template<typename T >
void	setInfo (const std::string &key, const T &value)
std::string	info (const std::string &key, const char *defaultValue) const
void	resetInfo (Mapping *info)
template<>
double	info (const std::string &key) const
template<>
double	info (const std::string &key, const double &defaultValue) const
template<>
bool	info (const std::string &key, const bool &defaultValue) const
template<>
void	setInfo (const std::string &key, const double &value)
template<>
void	setInfo (const std::string &key, const bool &value)
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Protected Member Functions
virtual Referenced *	doClone (CloneMap *cloneMap) const override
Protected Member Functions inherited from cnoid::Link
Referenced *	doClone (CloneMap *cloneMap) const override
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Friends
class	DySubBody
class	ForwardDynamicsCBM
class	ConstraintForceSolver

Additional Inherited Members
Static Public Member Functions inherited from cnoid::Link
static std::string	getStateModeString (short mode)
Static Public Attributes inherited from cnoid::Link
static constexpr int	PseudoContinousTrack = PseudoContinuousTrackJoint
static constexpr int	JOINT_SURFACE_VELOCITY = DeprecatedJointSurfaceVelocity
static constexpr short	AllStateHighGainActuationMode

Detailed Description

A Link class used for forward dynamics based on the articulated body method (ABM)

Member Typedef Documentation

ConstraintForce

typedef Link::ContactPoint cnoid::DyLink::ConstraintForce

ConstraintForceArray

typedef std::vector<ContactPoint> cnoid::DyLink::ConstraintForceArray

Constructor & Destructor Documentation

DyLink() [1/3]

DyLink::DyLink

(

)

DyLink() [2/3]

DyLink::DyLink

(

const DyLink &

org

)

DyLink() [3/3]

DyLink::DyLink

(

const Link &

link

)

Member Function Documentation

appendChild()

void DyLink::appendChild ( Link *  link )

overridevirtual

Reimplemented from cnoid::Link.

body()

DyBody * cnoid::DyLink::body ( )

inline

child()

DyLink* cnoid::DyLink::child ( ) const

inline

constraintForces() [1/2]

std::vector<ContactPoint>& cnoid::DyLink::constraintForces ( )

inline

constraintForces() [2/2]

const std::vector<ContactPoint>& cnoid::DyLink::constraintForces ( ) const

inline

cv() [1/2]

Vector3& cnoid::DyLink::cv ( )

inline

cv() [2/2]

const Vector3& cnoid::DyLink::cv ( ) const

inline

cw() [1/2]

Vector3& cnoid::DyLink::cw ( )

inline

cw() [2/2]

const Vector3& cnoid::DyLink::cw ( ) const

inline

dd() [1/2]

double& cnoid::DyLink::dd ( )

inline

dd() [2/2]

double cnoid::DyLink::dd ( ) const

inline

doClone()

Referenced * DyLink::doClone ( CloneMap *  cloneMap ) const

overrideprotectedvirtual

Implements cnoid::ClonableReferenced.

dvo() [1/2]

Vector3& cnoid::DyLink::dvo ( )

inline

dvo() [2/2]

const Vector3& cnoid::DyLink::dvo ( ) const

inline

hhv() [1/2]

Vector3& cnoid::DyLink::hhv ( )

inline

hhv() [2/2]

const Vector3& cnoid::DyLink::hhv ( ) const

inline

hhw() [1/2]

Vector3& cnoid::DyLink::hhw ( )

inline

hhw() [2/2]

const Vector3& cnoid::DyLink::hhw ( ) const

inline

initializeState()

void DyLink::initializeState ( )

overridevirtual

Reimplemented from cnoid::Link.

isSubBodyRoot()

bool cnoid::DyLink::isSubBodyRoot ( ) const

inline

Ivv() [1/2]

Matrix3& cnoid::DyLink::Ivv ( )

inline

Ivv() [2/2]

const Matrix3& cnoid::DyLink::Ivv ( ) const

inline

Iwv() [1/2]

Matrix3& cnoid::DyLink::Iwv ( )

inline

Iwv() [2/2]

const Matrix3& cnoid::DyLink::Iwv ( ) const

inline

Iww() [1/2]

Matrix3& cnoid::DyLink::Iww ( )

inline

Iww() [2/2]

const Matrix3& cnoid::DyLink::Iww ( ) const

inline

parent()

DyLink* cnoid::DyLink::parent ( ) const

inline

pf() [1/2]

Vector3& cnoid::DyLink::pf ( )

inline

pf() [2/2]

const Vector3& cnoid::DyLink::pf ( ) const

inline

prependChild()

void DyLink::prependChild ( Link *  link )

overridevirtual

Reimplemented from cnoid::Link.

ptau() [1/2]

Vector3& cnoid::DyLink::ptau ( )

inline

ptau() [2/2]

const Vector3& cnoid::DyLink::ptau ( ) const

inline

sibling()

DyLink* cnoid::DyLink::sibling ( ) const

inline

subBody()

DySubBody* cnoid::DyLink::subBody ( )

inline

sv() [1/2]

Vector3& cnoid::DyLink::sv ( )

inline

sv() [2/2]

const Vector3& cnoid::DyLink::sv ( ) const

inline

sw() [1/2]

Vector3& cnoid::DyLink::sw ( )

inline

sw() [2/2]

const Vector3& cnoid::DyLink::sw ( ) const

inline

uu() [1/2]

double& cnoid::DyLink::uu ( )

inline

uu() [2/2]

double cnoid::DyLink::uu ( ) const

inline

vo() [1/2]

Vector3& cnoid::DyLink::vo ( )

inline

vo() [2/2]

const Vector3& cnoid::DyLink::vo ( ) const

inline

Friends And Related Function Documentation

ConstraintForceSolver

friend class ConstraintForceSolver

friend

DySubBody

friend class DySubBody

friend

ForwardDynamicsCBM

friend class ForwardDynamicsCBM

friend

---

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

• DyBody.h
• DyBody.cpp