Robotics Library
0.6.2
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#include <Model.h>
Public Member Functions | |
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 |
Model * | clone () const |
void | getAcceleration (::rl::math::Vector &qdd) const |
void | getAccelerationUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const |
::std::size_t | getBodies () const |
Body * | getBody (const ::std::size_t &i) const |
::std::size_t | getDof () const |
::std::size_t | getDofPosition () const |
const ::rl::math::Transform & | getFrame (const ::std::size_t &i) const |
Joint * | getJoint (const ::std::size_t &i) const |
::std::size_t | getJoints () 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 | getPositionUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const |
void | getTorque (::rl::math::Vector &tau) const |
void | getTorqueUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const |
void | getSpeed (::rl::math::Vector &speed) const |
void | getSpeedUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) const |
void | getVelocity (::rl::math::Vector &qd) const |
void | getVelocityUnits (::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > &units) 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 |
virtual void | update () |
::rl::math::Transform & | world () |
const ::rl::math::Transform & | world () const |
Protected Types | |
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 |
Protected Member Functions | |
void | update (const Vertex &u) |
Protected Attributes | |
::std::vector< Body * > | bodies |
::std::vector< Element * > | elements |
::std::vector< Frame * > | frames |
::std::vector< Joint * > | joints |
::std::vector< Vertex > | leaves |
::std::string | manufacturer |
::std::string | name |
Vertex | root |
::std::vector< Edge > | tools |
::std::vector< Transform * > | transforms |
Tree | tree |
Friends | |
class | Compound |
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rl::mdl::Model::Model | ( | ) |
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void rl::mdl::Model::add | ( | Frame * | frame | ) |
bool rl::mdl::Model::areColliding | ( | const ::std::size_t & | i, |
const ::std::size_t & | j | ||
) | const |
Model * rl::mdl::Model::clone | ( | ) | const |
void rl::mdl::Model::getAcceleration | ( | ::rl::math::Vector & | qdd | ) | const |
void rl::mdl::Model::getAccelerationUnits | ( | ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & | units | ) | const |
std::size_t rl::mdl::Model::getBodies | ( | ) | const |
Body * rl::mdl::Model::getBody | ( | const ::std::size_t & | i | ) | const |
std::size_t rl::mdl::Model::getDof | ( | ) | const |
std::size_t rl::mdl::Model::getDofPosition | ( | ) | const |
const ::rl::math::Transform & rl::mdl::Model::getFrame | ( | const ::std::size_t & | i | ) | const |
Joint * rl::mdl::Model::getJoint | ( | const ::std::size_t & | i | ) | const |
std::size_t rl::mdl::Model::getJoints | ( | ) | const |
const ::std::string & rl::mdl::Model::getManufacturer | ( | ) | const |
void rl::mdl::Model::getMaximum | ( | ::rl::math::Vector & | max | ) | const |
void rl::mdl::Model::getMinimum | ( | ::rl::math::Vector & | min | ) | const |
const ::std::string & rl::mdl::Model::getName | ( | ) | const |
const ::rl::math::MotionVector & rl::mdl::Model::getOperationalAcceleration | ( | const ::std::size_t & | i | ) | const |
std::size_t rl::mdl::Model::getOperationalDof | ( | ) | const |
const ::rl::math::ForceVector & rl::mdl::Model::getOperationalForce | ( | const ::std::size_t & | i | ) | const |
const ::rl::math::Transform & rl::mdl::Model::getOperationalPosition | ( | const ::std::size_t & | i | ) | const |
const ::rl::math::MotionVector & rl::mdl::Model::getOperationalVelocity | ( | const ::std::size_t & | i | ) | const |
void rl::mdl::Model::getPosition | ( | ::rl::math::Vector & | q | ) | const |
void rl::mdl::Model::getPositionUnits | ( | ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & | units | ) | const |
void rl::mdl::Model::getSpeed | ( | ::rl::math::Vector & | speed | ) | const |
void rl::mdl::Model::getSpeedUnits | ( | ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & | units | ) | const |
void rl::mdl::Model::getTorque | ( | ::rl::math::Vector & | tau | ) | const |
void rl::mdl::Model::getTorqueUnits | ( | ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & | units | ) | const |
void rl::mdl::Model::getVelocity | ( | ::rl::math::Vector & | qd | ) | const |
void rl::mdl::Model::getVelocityUnits | ( | ::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 > & | units | ) | const |
bool rl::mdl::Model::isColliding | ( | const ::std::size_t & | i | ) | const |
void rl::mdl::Model::remove | ( | Compound * | compound | ) |
void rl::mdl::Model::remove | ( | Frame * | frame | ) |
void rl::mdl::Model::remove | ( | Transform * | transform | ) |
void rl::mdl::Model::setAcceleration | ( | const ::rl::math::Vector & | qdd | ) |
void rl::mdl::Model::setManufacturer | ( | const ::std::string & | manufacturer | ) |
void rl::mdl::Model::setName | ( | const ::std::string & | name | ) |
void rl::mdl::Model::setOperationalVelocity | ( | const ::std::size_t & | i, |
const ::rl::math::MotionVector & | v | ||
) | const |
void rl::mdl::Model::setPosition | ( | const ::rl::math::Vector & | q | ) |
void rl::mdl::Model::setTorque | ( | const ::rl::math::Vector & | tau | ) |
void rl::mdl::Model::setVelocity | ( | const ::rl::math::Vector & | qd | ) |
rl::math::Transform & rl::mdl::Model::tool | ( | const ::std::size_t & | i = 0 | ) |
const ::rl::math::Transform & rl::mdl::Model::tool | ( | const ::std::size_t & | i = 0 | ) | const |
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Reimplemented in rl::mdl::Kinematic, and rl::mdl::Dynamic.
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rl::math::Transform & rl::mdl::Model::world | ( | ) |
const ::rl::math::Transform & rl::mdl::Model::world | ( | ) | const |
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