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class | ArticulatedBodyInertia |
| 6D Inertia of a articulated body More...
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class | Chain |
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class | ChainDynParam |
| Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives. More...
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class | ChainExternalWrenchEstimator |
| First-order momentum observer for the estimation of external wrenches applied on the robot's end-effector. More...
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class | ChainFdSolver |
| This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
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class | ChainFdSolver_RNE |
| Recursive newton euler forward dynamics solver. More...
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class | ChainFkSolverAcc |
| This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain. More...
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class | ChainFkSolverPos |
| This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain. More...
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class | ChainFkSolverPos_recursive |
| Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain). More...
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class | ChainFkSolverVel |
| This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain. More...
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class | ChainFkSolverVel_recursive |
| Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain). More...
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class | ChainHdSolver_Vereshchagin |
| Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 1989. More...
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class | ChainIdSolver |
| This abstract class encapsulates the inverse dynamics solver for a KDL::Chain. More...
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class | ChainIdSolver_RNE |
| Recursive newton euler inverse dynamics solver. More...
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class | ChainIdSolver_Vereshchagin |
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class | ChainIkSolverAcc |
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class | ChainIkSolverPos |
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class | ChainIkSolverPos_LMA |
| Solver for the inverse position kinematics that uses Levenberg-Marquardt. More...
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class | ChainIkSolverPos_NR |
| Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain. More...
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class | ChainIkSolverPos_NR_JL |
| Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain. More...
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class | ChainIkSolverVel |
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class | ChainIkSolverVel_pinv |
| Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...
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class | ChainIkSolverVel_pinv_givens |
| Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...
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class | ChainIkSolverVel_pinv_nso |
| Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...
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class | ChainIkSolverVel_wdls |
| Implementation of a inverse velocity kinematics algorithm based on the weighted pseudo inverse with damped least-square to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain. More...
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class | ChainJntToJacDotSolver |
| Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation. More...
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class | ChainJntToJacSolver |
| Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers. More...
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class | Frame |
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class | Frame2 |
| A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics. More...
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class | FrameAcc |
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class | FrameVel |
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class | Jacobian |
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class | JntArray |
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class | JntArrayAcc |
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class | JntArrayVel |
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class | Joint |
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class | Path |
| The specification of the path of a trajectory. More...
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class | Path_Circle |
| A circular Path with 'open ends'. More...
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class | Path_Composite |
| A Path being the composition of other Path objects. More...
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class | Path_Cyclic_Closed |
| A Path representing a closed circular movement, which is traversed a number of times. More...
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class | Path_Line |
| A path representing a line from A to B. More...
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class | Path_Point |
| A Path consisting only of a point in space. More...
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class | Path_RoundedComposite |
| The specification of a path, composed of way-points with rounded corners. More...
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class | RigidBodyInertia |
| 6D Inertia of a rigid body More...
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class | Rotation |
| represents rotations in 3 dimensional space. More...
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class | Rotation2 |
| A 2D Rotation class, for conventions see Rotation. More...
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class | RotationAcc |
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class | RotationalInertia |
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class | RotationalInterpolation |
| RotationalInterpolation specifies the rotational part of a geometric trajectory. More...
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class | RotationalInterpolation_SingleAxis |
| An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation. More...
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class | RotationVel |
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class | Segment |
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class | SolverI |
| Solver interface supporting storage and description of the latest error. More...
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class | Stiffness |
| Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided... More...
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class | Trajectory |
| An abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile. More...
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class | Trajectory_Composite |
| Trajectory_Composite implements a trajectory that is composed of underlying trajectoria. More...
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class | Trajectory_Segment |
| Trajectory_Segment combines a VelocityProfile and a Path into a trajectory. More...
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class | Trajectory_Stationary |
| Implements a "trajectory" of a stationary position for an amount of time. More...
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class | Tree |
| This class encapsulates a tree kinematic interconnection structure. More...
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class | TreeElement |
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class | TreeFkSolverPos |
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class | TreeFkSolverPos_recursive |
| Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree). More...
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class | TreeIdSolver |
| This abstract class encapsulates the inverse dynamics solver for a KDL::Tree. More...
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class | TreeIdSolver_RNE |
| Recursive newton euler inverse dynamics solver for kinematic trees. More...
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class | TreeIkSolverPos |
| This abstract class encapsulates the inverse position solver for a KDL::Chain. More...
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class | TreeIkSolverPos_NR_JL |
| Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. More...
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class | TreeIkSolverPos_Online |
| Implementation of a general inverse position kinematics algorithm to calculate the position transformation from Cartesian to joint space of a general KDL::Tree. More...
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class | TreeIkSolverVel |
| This abstract class encapsulates the inverse velocity solver for a KDL::Tree. More...
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class | TreeIkSolverVel_wdls |
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class | TreeJntToJacSolver |
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class | Twist |
| represents both translational and rotational velocities. More...
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class | TwistAcc |
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class | TwistVel |
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class | Vector |
| A concrete implementation of a 3 dimensional vector class. More...
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class | Vector2 |
| 2D version of Vector More...
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class | VectorAcc |
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class | VectorVel |
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class | VelocityProfile |
| A VelocityProfile stores the velocity profile that is used within a trajectory. More...
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class | VelocityProfile_Dirac |
| A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time. More...
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class | VelocityProfile_Rectangular |
| A rectangular VelocityProfile generates a constant velocity for moving from A to B. More...
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class | VelocityProfile_Spline |
| A spline VelocityProfile trajectory interpolation. More...
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class | VelocityProfile_Trap |
| A Trapezoidal VelocityProfile implementation. More...
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class | VelocityProfile_TrapHalf |
| A 'Half' Trapezoidal VelocityProfile. More...
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class | Wrench |
| represents both translational and rotational acceleration. More...
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ArticulatedBodyInertia | operator* (double a, const ArticulatedBodyInertia &I) |
| Scalar product: I_new = double * I_old.
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ArticulatedBodyInertia | operator+ (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib) |
| addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing
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ArticulatedBodyInertia | operator+ (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib) |
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ArticulatedBodyInertia | operator- (const ArticulatedBodyInertia &Ia, const ArticulatedBodyInertia &Ib) |
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ArticulatedBodyInertia | operator- (const RigidBodyInertia &Ia, const ArticulatedBodyInertia &Ib) |
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Wrench | operator* (const ArticulatedBodyInertia &I, const Twist &t) |
| calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point
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ArticulatedBodyInertia | operator* (const Frame &T, const ArticulatedBodyInertia &I) |
| Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
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ArticulatedBodyInertia | operator* (const Rotation &M, const ArticulatedBodyInertia &I) |
| Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a.
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ArticulatedBodyInertia | operator+ (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib) |
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ArticulatedBodyInertia | operator- (const ArticulatedBodyInertia &Ia, const RigidBodyInertia &Ib) |
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template<typename Derived > |
void | Twist_to_Eigen (const KDL::Twist &t, Eigen::MatrixBase< Derived > &e) |
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IMETHOD bool | Equal (const FrameAcc &r1, const FrameAcc &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const Frame &r1, const FrameAcc &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const FrameAcc &r1, const Frame &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const RotationAcc &r1, const RotationAcc &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const Rotation &r1, const RotationAcc &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const RotationAcc &r1, const Rotation &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const TwistAcc &a, const TwistAcc &b, double eps=epsilon) |
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IMETHOD bool | Equal (const Twist &a, const TwistAcc &b, double eps=epsilon) |
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IMETHOD bool | Equal (const TwistAcc &a, const Twist &b, double eps=epsilon) |
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IMETHOD bool | Equal (const VectorAcc &r1, const VectorAcc &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const Vector &r1, const VectorAcc &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const VectorAcc &r1, const Vector &r2, double eps=epsilon) |
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std::ostream & | operator<< (std::ostream &os, const VectorAcc &r) |
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std::ostream & | operator<< (std::ostream &os, const RotationAcc &r) |
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std::ostream & | operator<< (std::ostream &os, const FrameAcc &r) |
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std::ostream & | operator<< (std::ostream &os, const TwistAcc &r) |
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bool | Equal (const Rotation &a, const Rotation &b, double eps=epsilon) |
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Rotation | operator* (const Rotation &lhs, const Rotation &rhs) |
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bool | operator== (const Rotation &a, const Rotation &b) |
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bool | Equal (const Vector &a, const Vector &b, double eps=epsilon) |
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bool | Equal (const Frame &a, const Frame &b, double eps=epsilon) |
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bool | Equal (const Twist &a, const Twist &b, double eps=epsilon) |
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bool | Equal (const Wrench &a, const Wrench &b, double eps=epsilon) |
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bool | Equal (const Vector2 &a, const Vector2 &b, double eps=epsilon) |
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bool | Equal (const Rotation2 &a, const Rotation2 &b, double eps=epsilon) |
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bool | Equal (const Frame2 &a, const Frame2 &b, double eps=epsilon) |
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IMETHOD Vector | diff (const Vector &p_w_a, const Vector &p_w_b, double dt=1) |
| determines the difference of vector b with vector a.
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IMETHOD Vector | diff (const Rotation &R_a_b1, const Rotation &R_a_b2, double dt=1) |
| determines the (scaled) rotation axis necessary to rotate from b1 to b2.
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IMETHOD Twist | diff (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1) |
| determines the rotation axis necessary to rotate the frame b1 to the same orientation as frame b2 and the vector necessary to translate the origin of b1 to the origin of b2, and stores the result in a Twist datastructure.
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IMETHOD Twist | diff (const Twist &a, const Twist &b, double dt=1) |
| determines the difference between two twists i.e.
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IMETHOD Wrench | diff (const Wrench &W_a_p1, const Wrench &W_a_p2, double dt=1) |
| determines the difference between two wrenches i.e.
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IMETHOD Vector | addDelta (const Vector &p_w_a, const Vector &p_w_da, double dt=1) |
| adds vector da to vector a.
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IMETHOD Rotation | addDelta (const Rotation &R_w_a, const Vector &da_w, double dt=1) |
| returns the rotation matrix resulting from the rotation of frame a by the axis and angle specified with da_w.
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IMETHOD Frame | addDelta (const Frame &F_w_a, const Twist &da_w, double dt=1) |
| returns the frame resulting from the rotation of frame a by the axis and angle specified in da_w and the translation of the origin (also specified in da_w).
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IMETHOD Twist | addDelta (const Twist &a, const Twist &da, double dt=1) |
| adds the twist da to the twist a.
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IMETHOD Wrench | addDelta (const Wrench &a, const Wrench &da, double dt=1) |
| adds the wrench da to the wrench w.
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std::ostream & | operator<< (std::ostream &os, const Vector &v) |
| width to be used when printing variables out with frames_io.h global variable, can be changed.
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std::ostream & | operator<< (std::ostream &os, const Twist &v) |
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std::ostream & | operator<< (std::ostream &os, const Wrench &v) |
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std::ostream & | operator<< (std::ostream &os, const Rotation &R) |
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std::ostream & | operator<< (std::ostream &os, const Frame &T) |
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std::ostream & | operator<< (std::ostream &os, const Vector2 &v) |
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std::ostream & | operator<< (std::ostream &os, const Rotation2 &R) |
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std::ostream & | operator<< (std::ostream &os, const Frame2 &T) |
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std::istream & | operator>> (std::istream &is, Vector &v) |
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std::istream & | operator>> (std::istream &is, Twist &v) |
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std::istream & | operator>> (std::istream &is, Wrench &v) |
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std::istream & | operator>> (std::istream &is, Rotation &r) |
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std::istream & | operator>> (std::istream &is, Frame &T) |
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std::istream & | operator>> (std::istream &is, Vector2 &v) |
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std::istream & | operator>> (std::istream &is, Rotation2 &r) |
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std::istream & | operator>> (std::istream &is, Frame2 &T) |
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IMETHOD doubleVel | diff (const doubleVel &a, const doubleVel &b, double dt=1.0) |
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IMETHOD doubleVel | addDelta (const doubleVel &a, const doubleVel &da, double dt=1.0) |
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IMETHOD void | random (doubleVel &F) |
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IMETHOD void | posrandom (doubleVel &F) |
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IMETHOD bool | Equal (const VectorVel &r1, const VectorVel &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const Vector &r1, const VectorVel &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const VectorVel &r1, const Vector &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const RotationVel &r1, const RotationVel &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const Rotation &r1, const RotationVel &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const RotationVel &r1, const Rotation &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const FrameVel &r1, const FrameVel &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const Frame &r1, const FrameVel &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const FrameVel &r1, const Frame &r2, double eps=epsilon) |
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IMETHOD bool | Equal (const TwistVel &a, const TwistVel &b, double eps=epsilon) |
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IMETHOD bool | Equal (const Twist &a, const TwistVel &b, double eps=epsilon) |
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IMETHOD bool | Equal (const TwistVel &a, const Twist &b, double eps=epsilon) |
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IMETHOD VectorVel | diff (const VectorVel &a, const VectorVel &b, double dt=1.0) |
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IMETHOD VectorVel | addDelta (const VectorVel &a, const VectorVel &da, double dt=1.0) |
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IMETHOD VectorVel | diff (const RotationVel &a, const RotationVel &b, double dt=1.0) |
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IMETHOD RotationVel | addDelta (const RotationVel &a, const VectorVel &da, double dt=1.0) |
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IMETHOD TwistVel | diff (const FrameVel &a, const FrameVel &b, double dt=1.0) |
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IMETHOD FrameVel | addDelta (const FrameVel &a, const TwistVel &da, double dt=1.0) |
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IMETHOD void | random (VectorVel &a) |
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IMETHOD void | random (TwistVel &a) |
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IMETHOD void | random (RotationVel &R) |
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IMETHOD void | random (FrameVel &F) |
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IMETHOD void | posrandom (VectorVel &a) |
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IMETHOD void | posrandom (TwistVel &a) |
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IMETHOD void | posrandom (RotationVel &R) |
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IMETHOD void | posrandom (FrameVel &F) |
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std::ostream & | operator<< (std::ostream &os, const VectorVel &r) |
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std::ostream & | operator<< (std::ostream &os, const RotationVel &r) |
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std::ostream & | operator<< (std::ostream &os, const FrameVel &r) |
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std::ostream & | operator<< (std::ostream &os, const TwistVel &r) |
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void | SetToZero (Jacobian &jac) |
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bool | changeRefPoint (const Jacobian &src1, const Vector &base_AB, Jacobian &dest) |
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bool | changeBase (const Jacobian &src1, const Rotation &rot, Jacobian &dest) |
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bool | changeRefFrame (const Jacobian &src1, const Frame &frame, Jacobian &dest) |
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bool | Equal (const Jacobian &a, const Jacobian &b, double eps=epsilon) |
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void | Add (const JntArray &src1, const JntArray &src2, JntArray &dest) |
| Function to add two joint arrays, all the arguments must have the same size: A + B = C.
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void | Subtract (const JntArray &src1, const JntArray &src2, JntArray &dest) |
| Function to subtract two joint arrays, all the arguments must have the same size: A - B = C.
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void | Multiply (const JntArray &src, const double &factor, JntArray &dest) |
| Function to multiply all the array values with a scalar factor: A*b=C.
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void | Divide (const JntArray &src, const double &factor, JntArray &dest) |
| Function to divide all the array values with a scalar factor: A/b=C.
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void | MultiplyJacobian (const Jacobian &jac, const JntArray &src, Twist &dest) |
| Function to multiply a KDL::Jacobian with a KDL::JntArray to get a KDL::Twist, it should not be used to calculate the forward velocity kinematics, the solver classes are built for this purpose.
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void | SetToZero (JntArray &array) |
| Function to set all the values of the array to 0.
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bool | Equal (const JntArray &src1, const JntArray &src2, double eps=epsilon) |
| Function to check if two arrays are the same with a precision of eps.
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bool | operator== (const JntArray &src1, const JntArray &src2) |
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void | Add (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest) |
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void | Add (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest) |
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void | Add (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest) |
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void | Subtract (const JntArrayAcc &src1, const JntArrayAcc &src2, JntArrayAcc &dest) |
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void | Subtract (const JntArrayAcc &src1, const JntArrayVel &src2, JntArrayAcc &dest) |
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void | Subtract (const JntArrayAcc &src1, const JntArray &src2, JntArrayAcc &dest) |
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void | Multiply (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest) |
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void | Multiply (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest) |
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void | Multiply (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest) |
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void | Divide (const JntArrayAcc &src, const double &factor, JntArrayAcc &dest) |
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void | Divide (const JntArrayAcc &src, const doubleVel &factor, JntArrayAcc &dest) |
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void | Divide (const JntArrayAcc &src, const doubleAcc &factor, JntArrayAcc &dest) |
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void | SetToZero (JntArrayAcc &array) |
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bool | Equal (const JntArrayAcc &src1, const JntArrayAcc &src2, double eps=epsilon) |
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void | Add (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest) |
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void | Add (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest) |
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void | Subtract (const JntArrayVel &src1, const JntArrayVel &src2, JntArrayVel &dest) |
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void | Subtract (const JntArrayVel &src1, const JntArray &src2, JntArrayVel &dest) |
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void | Multiply (const JntArrayVel &src, const double &factor, JntArrayVel &dest) |
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void | Multiply (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest) |
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void | Divide (const JntArrayVel &src, const double &factor, JntArrayVel &dest) |
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void | Divide (const JntArrayVel &src, const doubleVel &factor, JntArrayVel &dest) |
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void | SetToZero (JntArrayVel &array) |
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bool | Equal (const JntArrayVel &src1, const JntArrayVel &src2, double eps=epsilon) |
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void | Add (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest) |
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void | Subtract (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, JntSpaceInertiaMatrix &dest) |
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void | Multiply (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest) |
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void | Divide (const JntSpaceInertiaMatrix &src, const double &factor, JntSpaceInertiaMatrix &dest) |
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void | Multiply (const JntSpaceInertiaMatrix &src, const JntArray &vec, JntArray &dest) |
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void | SetToZero (JntSpaceInertiaMatrix &mat) |
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bool | Equal (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2, double eps) |
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bool | operator== (const JntSpaceInertiaMatrix &src1, const JntSpaceInertiaMatrix &src2) |
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std::ostream & | operator<< (std::ostream &os, const Joint &joint) |
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std::istream & | operator>> (std::istream &is, Joint &joint) |
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std::ostream & | operator<< (std::ostream &os, const Segment &segment) |
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std::istream & | operator>> (std::istream &is, Segment &segment) |
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std::ostream & | operator<< (std::ostream &os, const Chain &chain) |
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std::istream & | operator>> (std::istream &is, Chain &chain) |
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std::ostream & | operator<< (std::ostream &os, const Tree &tree) |
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std::ostream & | operator<< (std::ostream &os, SegmentMap::const_iterator root) |
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std::istream & | operator>> (std::istream &is, Tree &tree) |
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std::ostream & | operator<< (std::ostream &os, const JntArray &array) |
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std::istream & | operator>> (std::istream &is, JntArray &array) |
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std::ostream & | operator<< (std::ostream &os, const Jacobian &jac) |
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std::istream & | operator>> (std::istream &is, Jacobian &jac) |
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std::ostream & | operator<< (std::ostream &os, const JntSpaceInertiaMatrix &jntspaceinertiamatrix) |
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std::istream & | operator>> (std::istream &is, JntSpaceInertiaMatrix &jntspaceinertiamatrix) |
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std::string | tree2str (const SegmentMap::const_iterator it, const std::string &separator, const std::string &preamble, unsigned int level) |
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std::string | tree2str (const Tree &tree, const std::string &separator, const std::string &preamble) |
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RigidBodyInertia | operator* (double a, const RigidBodyInertia &I) |
| Scalar product: I_new = double * I_old.
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RigidBodyInertia | operator+ (const RigidBodyInertia &Ia, const RigidBodyInertia &Ib) |
| addition I: I_new = I_old1 + I_old2, make sure that I_old1 and I_old2 are expressed in the same reference frame/point, otherwise the result is worth nothing
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Wrench | operator* (const RigidBodyInertia &I, const Twist &t) |
| calculate spatial momentum: h = I*v make sure that the twist v and the inertia are expressed in the same reference frame/point
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RigidBodyInertia | operator* (const Frame &T, const RigidBodyInertia &I) |
| Coordinate system transform Ia = T_a_b*Ib with T_a_b the frame from a to b.
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RigidBodyInertia | operator* (const Rotation &M, const RigidBodyInertia &I) |
| Reference frame orientation change Ia = R_a_b*Ib with R_a_b the rotation of b expressed in a.
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RotationalInertia | operator* (double a, const RotationalInertia &I) |
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RotationalInertia | operator+ (const RotationalInertia &Ia, const RotationalInertia &Ib) |
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Wrench | operator* (const Stiffness &s, const Twist &t) |
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Stiffness | operator+ (const Stiffness &s1, const Stiffness &s2) |
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void | posrandom (Stiffness &F) |
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void | random (Stiffness &F) |
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static void | generatePowers (int n, double x, double *powers) |
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int | svd_eigen_Macie (const Eigen::MatrixXd &A, Eigen::MatrixXd &U, Eigen::VectorXd &S, Eigen::MatrixXd &V, Eigen::MatrixXd &B, Eigen::VectorXd &tempi, double threshold, bool toggle) |
| svd_eigen_Macie provides Maciejewski implementation for SVD.
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