Robotics Library  0.7.0
Frame.h
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26 
27 #ifndef RL_MDL_FRAME_H
28 #define RL_MDL_FRAME_H
29 
30 #include <boost/graph/adjacency_list.hpp>
31 #include <rl/math/Transform.h>
32 #include <rl/math/Spatial.h>
33 #include <rl/math/Vector.h>
34 
35 #include "Element.h"
36 
37 namespace rl
38 {
39  namespace mdl
40  {
41  class Frame : public Element
42  {
43  public:
44  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45 
46  typedef ::boost::adjacency_list<
47  ::boost::listS,
48  ::boost::listS,
49  ::boost::bidirectionalS,
50  ::boost::listS
51  > Tree;
52 
53  typedef Tree::vertex_descriptor Vertex;
54 
55  Frame();
56 
57  virtual ~Frame();
58 
59  virtual void forwardAcceleration();
60 
61  virtual void forwardDynamics1();
62 
63  virtual void forwardDynamics2();
64 
65  virtual void forwardDynamics3();
66 
67  virtual void forwardPosition();
68 
69  virtual void forwardVelocity();
70 
71  const Vertex& getVertexDescriptor() const;
72 
73  virtual void inverseDynamics1();
74 
75  virtual void inverseDynamics2();
76 
77  virtual void inverseForce();
78 
80 
82 
84 
86 
88 
90 
92 
94 
96 
98 
99  protected:
100 
101  private:
103  };
104  }
105 }
106 
107 #endif // RL_MDL_FRAME_H
rl::mdl::Frame::getVertexDescriptor
const Vertex & getVertexDescriptor() const
Definition: Frame.cpp:94
rl::mdl::Frame::inverseDynamics1
virtual void inverseDynamics1()
Definition: Frame.cpp:100
rl::math::Transform
::Eigen::Transform< Real, 3, ::Eigen::Affine > Transform
Rigid transformation in 3D.
Definition: Transform.h:46
rl::mdl::Frame::inverseForce
virtual void inverseForce()
Definition: Frame.cpp:111
rl::math::spatial::ArticulatedBodyInertia
Articulated-body inertia.
Definition: ArticulatedBodyInertia.h:47
rl::mdl::Frame::forwardAcceleration
virtual void forwardAcceleration()
Definition: Frame.cpp:62
rl::math::spatial::RigidBodyInertia
Rigid-body inertia.
Definition: RigidBodyInertia.h:47
rl::mdl::Frame::inverseDynamics2
virtual void inverseDynamics2()
Definition: Frame.cpp:106
rl::mdl::Frame::c
::rl::math::MotionVector c
Definition: Frame.h:83
rl::mdl::Frame::forwardDynamics3
virtual void forwardDynamics3()
Definition: Frame.cpp:79
rl::mdl::Frame::setVertexDescriptor
void setVertexDescriptor(const Vertex &descriptor)
Definition: Frame.cpp:116
rl::mdl::Frame::i
::rl::math::RigidBodyInertia i
Definition: Frame.h:87
rl::mdl::Frame::forwardPosition
virtual void forwardPosition()
Definition: Frame.cpp:84
Vector.h
rl::mdl::Frame::a
::rl::math::MotionVector a
Definition: Frame.h:81
rl::mdl::Frame::f
::rl::math::ForceVector f
Definition: Frame.h:85
rl::mdl::Frame::~Frame
virtual ~Frame()
Definition: Frame.cpp:57
Spatial.h
rl::mdl::Frame::Frame
Frame()
Definition: Frame.cpp:33
rl::mdl::Frame::iA
::rl::math::ArticulatedBodyInertia iA
Definition: Frame.h:89
rl::mdl::Frame::t
::rl::math::Transform t
Definition: Frame.h:93
rl::mdl::Frame::descriptor
Vertex descriptor
Definition: Frame.h:102
rl::mdl::Element
Definition: Element.h:40
rl::mdl::Frame::x
::rl::math::PlueckerTransform x
Definition: Frame.h:97
rl::mdl::Frame::v
::rl::math::MotionVector v
Definition: Frame.h:95
rl::mdl::Frame::Tree
::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS > Tree
Definition: Frame.h:51
rl::mdl::Frame::pA
::rl::math::ForceVector pA
Definition: Frame.h:91
rl::mdl::Frame::forwardDynamics2
virtual void forwardDynamics2()
Definition: Frame.cpp:74
Element.h
rl::math::spatial::PlueckerTransform
Pl├╝cker transform.
Definition: PlueckerTransform.h:55
Transform.h
rl::math::spatial::ForceVector
Force vector.
Definition: ForceVector.h:46
rl::mdl::Frame::forwardVelocity
virtual void forwardVelocity()
Definition: Frame.cpp:89
rl::mdl::Frame::forwardDynamics1
virtual void forwardDynamics1()
Definition: Frame.cpp:67
rl::math::spatial::MotionVector
Motion vector.
Definition: MotionVector.h:45
rl::mdl::Frame
Definition: Frame.h:42
rl::mdl::Frame::Vertex
Tree::vertex_descriptor Vertex
Definition: Frame.h:53
rl
Robotics Library.
Definition: AnalogInput.cpp:30