rl::mdl::Model Class Reference

#include <Model.h>

Inheritance diagram for rl::mdl::Model:

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
::rl::math::Vector	generatePositionGaussian (const ::rl::math::Vector &rand, const ::rl::math::Vector &mean, const ::rl::math::Vector &sigma) const
::rl::math::Vector	generatePositionUniform (const ::rl::math::Vector &rand) const
::rl::math::Vector	getAcceleration () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getAccelerationUnits () 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
const ::rl::math::Matrix &	getGammaPosition () const
const ::rl::math::Matrix &	getGammaVelocity () const
const ::rl::math::Matrix &	getGammaPositionInverse () const
const ::rl::math::Matrix &	getGammaVelocityInverse () const
::rl::math::Vector	getHomePosition () 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
::rl::math::Vector	getMaximum () const
::rl::math::Vector	getMinimum () const
const ::std::string &	getName () const
::rl::math::Vector	getPosition () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getPositionUnits () const
::rl::math::Vector	getTorque () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getTorqueUnits () const
::rl::math::Vector	getSpeed () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getSpeedUnits () const
::rl::math::Vector	getVelocity () const
::Eigen::Matrix< ::rl::math::Unit, ::Eigen::Dynamic, 1 >	getVelocityUnits () 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	setGammaPosition (const ::rl::math::Matrix &gammaPosition)
void	setGammaVelocity (const ::rl::math::Matrix &gammaVelocity)
void	setHomePosition (const ::rl::math::Vector &home)
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 *, ::std::shared_ptr< Frame > >, ::boost::property< ::boost::edge_weight_t, Compound *, ::std::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
::rl::math::Matrix	gammaPosition
::rl::math::Matrix	gammaVelocity
::rl::math::Vector	home
::rl::math::Matrix	invGammaPosition
::rl::math::Matrix	invGammaVelocity
::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

Member Typedef Documentation

Edge

typedef ::boost::graph_traits<Tree>::edge_descriptor rl::mdl::Model::Edge

protected

EdgeIterator

typedef ::boost::graph_traits<Tree>::edge_iterator rl::mdl::Model::EdgeIterator

protected

EdgeIteratorPair

typedef ::std::pair<EdgeIterator, EdgeIterator> rl::mdl::Model::EdgeIteratorPair

protected

InEdgeIterator

typedef ::boost::graph_traits<Tree>::in_edge_iterator rl::mdl::Model::InEdgeIterator

protected

InEdgeIteratorPair

typedef ::std::pair<InEdgeIterator, InEdgeIterator> rl::mdl::Model::InEdgeIteratorPair

protected

OutEdgeIterator

typedef ::boost::graph_traits<Tree>::out_edge_iterator rl::mdl::Model::OutEdgeIterator

protected

OutEdgeIteratorPair

typedef ::std::pair<OutEdgeIterator, OutEdgeIterator> rl::mdl::Model::OutEdgeIteratorPair

protected

Tree

typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::property< ::boost::vertex_color_t, Compound*, ::std::shared_ptr<Frame> >, ::boost::property< ::boost::edge_weight_t, Compound*, ::std::shared_ptr<Transform> >, ::boost::no_property, ::boost::listS > rl::mdl::Model::Tree

protected

Vertex

typedef ::boost::graph_traits<Tree>::vertex_descriptor rl::mdl::Model::Vertex

protected

VertexIterator

typedef ::boost::graph_traits<Tree>::vertex_iterator rl::mdl::Model::VertexIterator

protected

VertexIteratorPair

typedef ::std::pair<VertexIterator, VertexIterator> rl::mdl::Model::VertexIteratorPair

protected

Constructor & Destructor Documentation

Model()

rl::mdl::Model::Model

(

)

~Model()

rl::mdl::Model::~Model ( )

virtual

Member Function Documentation

add() [1/3]

void rl::mdl::Model::add	(	Compound *	compound,
		const Frame *	a,
		const Frame *	b
	)

add() [2/3]

void rl::mdl::Model::add

(

Frame *

frame

)

add() [3/3]

void rl::mdl::Model::add	(	Transform *	transform,
		const Frame *	a,
		const Frame *	b
	)

areColliding()

bool rl::mdl::Model::areColliding	(	const ::std::size_t &	i,
		const ::std::size_t &	j
	)		const

clone()

Model * rl::mdl::Model::clone

(

)

const

generatePositionGaussian()

rl::math::Vector rl::mdl::Model::generatePositionGaussian	(	const ::rl::math::Vector &	rand,
		const ::rl::math::Vector &	mean,
		const ::rl::math::Vector &	sigma
	)		const

generatePositionUniform()

rl::math::Vector rl::mdl::Model::generatePositionUniform

(

const ::rl::math::Vector &

rand

)

const

getAcceleration()

rl::math::Vector rl::mdl::Model::getAcceleration

(

)

const

getAccelerationUnits()

Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > rl::mdl::Model::getAccelerationUnits

(

)

const

getBodies()

std::size_t rl::mdl::Model::getBodies

(

)

const

getBody()

Body * rl::mdl::Model::getBody

(

const ::std::size_t &

i

)

const

getDof()

std::size_t rl::mdl::Model::getDof

(

)

const

getDofPosition()

std::size_t rl::mdl::Model::getDofPosition

(

)

const

getFrame()

const ::rl::math::Transform & rl::mdl::Model::getFrame

(

const ::std::size_t &

i

)

const

getGammaPosition()

const ::rl::math::Matrix & rl::mdl::Model::getGammaPosition

(

)

const

getGammaPositionInverse()

const ::rl::math::Matrix & rl::mdl::Model::getGammaPositionInverse

(

)

const

getGammaVelocity()

const ::rl::math::Matrix & rl::mdl::Model::getGammaVelocity

(

)

const

getGammaVelocityInverse()

const ::rl::math::Matrix & rl::mdl::Model::getGammaVelocityInverse

(

)

const

getHomePosition()

rl::math::Vector rl::mdl::Model::getHomePosition

(

)

const

getJoint()

Joint * rl::mdl::Model::getJoint

(

const ::std::size_t &

i

)

const

getJoints()

std::size_t rl::mdl::Model::getJoints

(

)

const

getManufacturer()

const ::std::string & rl::mdl::Model::getManufacturer

(

)

const

getMaximum()

rl::math::Vector rl::mdl::Model::getMaximum

(

)

const

getMinimum()

rl::math::Vector rl::mdl::Model::getMinimum

(

)

const

getName()

const ::std::string & rl::mdl::Model::getName

(

)

const

getOperationalAcceleration()

const ::rl::math::MotionVector & rl::mdl::Model::getOperationalAcceleration

(

const ::std::size_t &

i

)

const

getOperationalDof()

std::size_t rl::mdl::Model::getOperationalDof

(

)

const

getOperationalForce()

const ::rl::math::ForceVector & rl::mdl::Model::getOperationalForce

(

const ::std::size_t &

i

)

const

getOperationalPosition()

const ::rl::math::Transform & rl::mdl::Model::getOperationalPosition

(

const ::std::size_t &

i

)

const

getOperationalVelocity()

const ::rl::math::MotionVector & rl::mdl::Model::getOperationalVelocity

(

const ::std::size_t &

i

)

const

getPosition()

rl::math::Vector rl::mdl::Model::getPosition

(

)

const

getPositionUnits()

Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > rl::mdl::Model::getPositionUnits

(

)

const

getSpeed()

rl::math::Vector rl::mdl::Model::getSpeed

(

)

const

getSpeedUnits()

Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > rl::mdl::Model::getSpeedUnits

(

)

const

getTorque()

rl::math::Vector rl::mdl::Model::getTorque

(

)

const

getTorqueUnits()

Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > rl::mdl::Model::getTorqueUnits

(

)

const

getVelocity()

rl::math::Vector rl::mdl::Model::getVelocity

(

)

const

getVelocityUnits()

Eigen::Matrix<::rl::math::Unit,::Eigen::Dynamic, 1 > rl::mdl::Model::getVelocityUnits

(

)

const

isColliding()

bool rl::mdl::Model::isColliding

(

const ::std::size_t &

i

)

const

remove() [1/3]

void rl::mdl::Model::remove

(

Compound *

compound

)

remove() [2/3]

void rl::mdl::Model::remove

(

Frame *

frame

)

remove() [3/3]

void rl::mdl::Model::remove

(

Transform *

transform

)

replace() [1/2]

void rl::mdl::Model::replace	(	Compound *	compound,
		Transform *	transform
	)

replace() [2/2]

void rl::mdl::Model::replace	(	Transform *	transform,
		Compound *	compound
	)

setAcceleration()

void rl::mdl::Model::setAcceleration

(

const ::rl::math::Vector &

qdd

)

setGammaPosition()

void rl::mdl::Model::setGammaPosition

(

const ::rl::math::Matrix &

gammaPosition

)

setGammaVelocity()

void rl::mdl::Model::setGammaVelocity

(

const ::rl::math::Matrix &

gammaVelocity

)

setHomePosition()

void rl::mdl::Model::setHomePosition

(

const ::rl::math::Vector &

home

)

setManufacturer()

void rl::mdl::Model::setManufacturer

(

const ::std::string &

manufacturer

)

setName()

void rl::mdl::Model::setName

(

const ::std::string &

name

)

setOperationalVelocity()

void rl::mdl::Model::setOperationalVelocity	(	const ::std::size_t &	i,
		const ::rl::math::MotionVector &	v
	)		const

setPosition()

void rl::mdl::Model::setPosition

(

const ::rl::math::Vector &

q

)

setTorque()

void rl::mdl::Model::setTorque

(

const ::rl::math::Vector &

tau

)

setVelocity()

void rl::mdl::Model::setVelocity

(

const ::rl::math::Vector &

qd

)

tool() [1/2]

rl::math::Transform & rl::mdl::Model::tool

(

const ::std::size_t &

i = 0

)

tool() [2/2]

const ::rl::math::Transform & rl::mdl::Model::tool

(

const ::std::size_t &

i = 0

)

const

update() [1/2]

void rl::mdl::Model::update ( )

virtual

Reimplemented in rl::mdl::Kinematic, and rl::mdl::Dynamic.

update() [2/2]

void rl::mdl::Model::update ( const Vertex &  u )

protected

world() [1/2]

rl::math::Transform & rl::mdl::Model::world

(

)

world() [2/2]

const ::rl::math::Transform & rl::mdl::Model::world

(

)

const

Friends And Related Function Documentation

Compound

friend class Compound

friend

Member Data Documentation

bodies

::std::vector<Body*> rl::mdl::Model::bodies

protected

elements

::std::vector<Element*> rl::mdl::Model::elements

protected

frames

::std::vector<Frame*> rl::mdl::Model::frames

protected

gammaPosition

::rl::math::Matrix rl::mdl::Model::gammaPosition

protected

gammaVelocity

::rl::math::Matrix rl::mdl::Model::gammaVelocity

protected

home

::rl::math::Vector rl::mdl::Model::home

protected

invGammaPosition

::rl::math::Matrix rl::mdl::Model::invGammaPosition

protected

invGammaVelocity

::rl::math::Matrix rl::mdl::Model::invGammaVelocity

protected

joints

::std::vector<Joint*> rl::mdl::Model::joints

protected

leaves

::std::vector<Vertex> rl::mdl::Model::leaves

protected

manufacturer

::std::string rl::mdl::Model::manufacturer

protected

name

::std::string rl::mdl::Model::name

protected

root

Vertex rl::mdl::Model::root

protected

tools

::std::vector<Edge> rl::mdl::Model::tools

protected

transforms

::std::vector<Transform*> rl::mdl::Model::transforms

protected

tree

Tree rl::mdl::Model::tree

protected

---

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

• rl/mdl/Model.h
• rl/mdl/Model.cpp