benchmark.cc
/tmp/ws/src/rdl/rdl_benchmark/src/
benchmark_8cc
rdl_benchmark/model_generator.h
rdl_benchmark/Human36Model.h
rdl_benchmark/SampleData.h
rdl_benchmark/Timer.h
ContactsMethod
benchmark_8cc.html
a1bdc0929694ea26a0510ba8a31b9668d
ContactsMethodLagrangian
benchmark_8cc.html
a1bdc0929694ea26a0510ba8a31b9668dacd6a5ca2b25cc35a69411653691cf8a5
ContactsMethodRangeSpaceSparse
benchmark_8cc.html
a1bdc0929694ea26a0510ba8a31b9668da0d0b7cad22eaff3ff3174067c94a755a
ContactsMethodNullSpace
benchmark_8cc.html
a1bdc0929694ea26a0510ba8a31b9668da2b3aec5c76609ac44053ce4accd7dd1b
ContactsMethodKokkevis
benchmark_8cc.html
a1bdc0929694ea26a0510ba8a31b9668dab0dd3de079876a360bc28377c15e8598
double
contacts_benchmark
benchmark_8cc.html
a5f56b4f1f30f3fd2a9fa6a7ddd1cdc14
(int sample_count, ContactsMethod contacts_method)
void
disable_all_benchmarks
benchmark_8cc.html
a41d13fc471e130bc82b0aced4cb04d55
()
int
main
benchmark_8cc.html
a0ddf1224851353fc92bfbff6f499fa97
(int argc, char *argv[])
void
parse_args
benchmark_8cc.html
a8ab77940e9f8f362c1242eb44f366bb7
(int argc, char *argv[])
void
print_usage
benchmark_8cc.html
ae5ad5cbeccaedc03a48d3c7eaa803e79
()
double
run_calc_minv_times_tau_benchmark
benchmark_8cc.html
a1e6ccd18b7d6fee30a46f08a446ebf49
(ModelPtr model, int sample_count)
double
run_contacts_kokkevis_benchmark
benchmark_8cc.html
a7af92cb1b270bff40bda5196a388f46d
(ModelPtr model, ConstraintSet *constraint_set, int sample_count)
double
run_contacts_lagrangian_benchmark
benchmark_8cc.html
a225844e02279f4ae16dcd856ac8c9443
(ModelPtr model, ConstraintSet *constraint_set, int sample_count)
double
run_contacts_lagrangian_sparse_benchmark
benchmark_8cc.html
a956fd00823a6f0ff149a507399d4ee4f
(ModelPtr model, ConstraintSet *constraint_set, int sample_count)
double
run_contacts_null_space
benchmark_8cc.html
af84acae73d9b09c5b558c1cdae7d2e80
(ModelPtr model, ConstraintSet *constraint_set, int sample_count)
double
run_CRBA_benchmark
benchmark_8cc.html
a79b4f3f330c13270d9cd45a71900ccff
(ModelPtr model, int sample_count)
double
run_forward_dynamics_ABA_benchmark
benchmark_8cc.html
ac485404afdf87580dfb84f7a89e70e85
(ModelPtr model, int sample_count)
double
run_forward_dynamics_lagrangian_benchmark
benchmark_8cc.html
ae16cc66828c66a8202256d497c607bd0
(ModelPtr model, int sample_count)
double
run_inverse_dynamics_RNEA_benchmark
benchmark_8cc.html
aa6bd3c35ed2aae7c36f55390fff551f1
(ModelPtr model, int sample_count)
double
run_nle_benchmark
benchmark_8cc.html
a1ff5592f3f6e42262a75241a3f8b9363
(ModelPtr model, int sample_count)
int
benchmark_model_max_depth
benchmark_8cc.html
aa04f29ef3d7deed28d6ea434f4b8cbfa
bool
benchmark_run_calc_minv_times_tau
benchmark_8cc.html
a0527fec71c4a74d15ecb99b1d9ad7de9
bool
benchmark_run_contacts
benchmark_8cc.html
a794da451fb5be270692bc87f21d26b49
bool
benchmark_run_crba
benchmark_8cc.html
af391ca585ddc0644156599f8d5d6b766
bool
benchmark_run_fd_aba
benchmark_8cc.html
ac895fee83618818d15593e17af4e61fc
bool
benchmark_run_fd_lagrangian
benchmark_8cc.html
a0bae537b9756453067b77930a6420105
bool
benchmark_run_id_rnea
benchmark_8cc.html
a6af068d68dcf0d091a023528eaf3812a
bool
benchmark_run_nle
benchmark_8cc.html
aeb7f4387028120fb15355088fc1cd7e6
int
benchmark_sample_count
benchmark_8cc.html
aff815aba2175bdff16c12d0684d6d746
bool
have_urdfreader
benchmark_8cc.html
ade6b381fc65f8597c889134c881c8ca1
string
model_file
benchmark_8cc.html
ac9c4362c16a899b266478e118984e92b
bool
urdf_floating_base
benchmark_8cc.html
a9c5dd4c2d9b677f4b3fb0d2c9c2a92e3
Human36Model.cc
/tmp/ws/src/rdl/rdl_benchmark/src/
Human36Model_8cc
rdl_benchmark/Human36Model.h
SegmentName
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52
SegmentPelvis
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52aba88a72626a540b7cf9c84af9b1d204f
SegmentThigh
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52a1eec18ef3aaf6b134db68b69bc064e47
SegmentShank
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52afc43685f4f4e6b9d1c40eb94bb2a25ee
SegmentFoot
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52afaa63207a75fff91d908b15b972169ca
SegmentMiddleTrunk
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52a2e651f808f97782c0af8f9de9c3b9eb9
SegmentUpperTrunk
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52a00249f56d4e424b10714ce25e9b0ca4b
SegmentUpperArm
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52ae1eb6baba11207c4a87f1824d015d84e
SegmentLowerArm
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52ac02af69242de8ea66a53a5761f3e5e3c
SegmentHand
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52aad8a85049d25a304edae70b9b8fe01e7
SegmentHead
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52a6e17b2da969f53971f4fee4b2e1ccc85
SegmentNameLast
Human36Model_8cc.html
af7f73bca4b54f4c58f69a4e4678aac52af5ecee9d37ae0cc297a3b12dc12667dd
Body
create_body
Human36Model_8cc.html
afcc64f3dc5363aacf5298da8d27b04da
(SegmentName segment)
void
generate_human36model
Human36Model_8cc.html
a310c985f5d62e4280d1cd153152b58b0
(RobotDynamics::ModelPtr model)
double
SegmentCOM
Human36Model_8cc.html
a01f012f7ffd717bb17c7d07c8c2af981
[SegmentNameLast][3]
double
SegmentLengths
Human36Model_8cc.html
acd5097c49515f29575bdf975192bda5d
[SegmentNameLast]
double
SegmentMass
Human36Model_8cc.html
aa5c6f5d388768ea0630daef962aed3ed
[SegmentNameLast]
double
SegmentRadiiOfGyration
Human36Model_8cc.html
ad773ff701dc040139b6b8a4ff1fabccb
[SegmentNameLast][3]
Human36Model.h
/tmp/ws/src/rdl/rdl_benchmark/include/rdl_benchmark/
Human36Model_8h
RobotDynamics
void
generate_human36model
Human36Model_8h.html
a310c985f5d62e4280d1cd153152b58b0
(RobotDynamics::ModelPtr model)
kinematics_benchmark.cc
/tmp/ws/src/rdl/rdl_benchmark/src/
kinematics__benchmark_8cc
rdl_benchmark/Timer.h
Samples
Samples
fillRandom
kinematics__benchmark_8cc.html
a6af6a70fc07a9a9af3a23d2a549e250d
(unsigned int q_size, unsigned int qdot_size, unsigned int num_samples)
int
main
kinematics__benchmark_8cc.html
a0ddf1224851353fc92bfbff6f499fa97
(int argc, char *argv[])
model_generator.cc
/tmp/ws/src/rdl/rdl_benchmark/src/
model__generator_8cc
rdl_benchmark/model_generator.h
void
generate_planar_tree
model__generator_8cc.html
a7c05e916ab9e3a70c4a9cb72231569c8
(ModelPtr model, int depth)
void
generate_planar_tree_recursive
model__generator_8cc.html
a7470948fabf0330aeed78b7892dcf037
(ModelPtr model, unsigned int parent_body_id, int depth, double length)
model_generator.h
/tmp/ws/src/rdl/rdl_benchmark/include/rdl_benchmark/
model__generator_8h
RobotDynamics
void
generate_planar_tree
model__generator_8h.html
aa19ff8eaac617cd44b4effee421ebdf6
(RobotDynamics::ModelPtr model, int depth)
SampleData.h
/tmp/ws/src/rdl/rdl_benchmark/include/rdl_benchmark/
SampleData_8h
SampleData
Timer.h
/tmp/ws/src/rdl/rdl_benchmark/include/rdl_benchmark/
Timer_8h
TimerInfo
void
timer_start
Timer_8h.html
a8a665cfcfe99b9a0dcda3145646c96e0
(TimerInfo *timer)
double
timer_stop
Timer_8h.html
afbf4f6bdd5dd46d3260b0793bbcb48d4
(TimerInfo *timer)
SampleData
structSampleData.html
void
deleteData
structSampleData.html
aa6daa037f847dd5185da02894fa7f8d0
()
void
fillRandom
structSampleData.html
a691aad213baa638e13579ba71b23c71b
(int dof_count, int sample_count)
SampleData &
operator=
structSampleData.html
afd1cf1cb8da820e3c2cd623529dee1a5
(const SampleData &data)
SampleData
structSampleData.html
abe966ba33d20121b90914843a1014bfd
()
SampleData
structSampleData.html
af6ac4ba228858c67634fc3ea7a7965de
(const SampleData &data)
~SampleData
structSampleData.html
acc793075ed34b7d79c8c39824e5f9155
()
unsigned int
count
structSampleData.html
a395fdd3427990282031d3238167856a8
RobotDynamics::Math::VectorNd *
q
structSampleData.html
a2601a023b65089ddaea73c9588ee81ed
RobotDynamics::Math::VectorNd *
qddot
structSampleData.html
a4182734167565546b74f5a2c0f7d532a
RobotDynamics::Math::VectorNd *
qdot
structSampleData.html
ac766b1af2ed38d69efb5ea508c3dd128
RobotDynamics::Math::VectorNd *
tau
structSampleData.html
a2d3ef363a89625a2fce77bcb76516684
Samples
structSamples.html
std::vector< RobotDynamics::Math::VectorNd, Eigen::aligned_allocator< RobotDynamics::Math::VectorNd > >
q_vec
structSamples.html
a11f3178b3158dc7e30df1e3860e88532
std::vector< RobotDynamics::Math::VectorNd, Eigen::aligned_allocator< RobotDynamics::Math::VectorNd > >
qddot_vec
structSamples.html
a8ef731fabf45d09e275123514f8aab06
std::vector< RobotDynamics::Math::VectorNd, Eigen::aligned_allocator< RobotDynamics::Math::VectorNd > >
qdot_vec
structSamples.html
a0b4b550936e1ec845dfc9dd2d4bcf764
std::vector< RobotDynamics::Math::VectorNd, Eigen::aligned_allocator< RobotDynamics::Math::VectorNd > >
tau_vec
structSamples.html
a03a41e4f85ac7c2f9121a90671db6559
TimerInfo
structTimerInfo.html
double
clock_end_value
structTimerInfo.html
a664a08963a8cf102334e7c44d18d57d6
double
clock_start_value
structTimerInfo.html
a70af7e1550a1fef86c21ffed92993319
double
duration_sec
structTimerInfo.html
ac5fc01b955d0771ff25425f879854759
RobotDynamics
namespaceRobotDynamics.html
std::shared_ptr< FixedReferenceFrame >
FixedReferenceFramePtr
group__reference__frame.html
ga7de1ac64091ce424a8e4df814b4b0211
std::shared_ptr< FixedReferenceFrame >
FixedReferenceFramePtr
group__reference__frame.html
ga7de1ac64091ce424a8e4df814b4b0211
std::vector< FixedReferenceFramePtr >
FixedReferenceFramePtrV
group__reference__frame.html
gad8900539025c605c592028490e959c56
std::vector< FixedReferenceFramePtr >
FixedReferenceFramePtrV
group__reference__frame.html
gad8900539025c605c592028490e959c56
std::shared_ptr< Model >
ModelPtr
namespaceRobotDynamics.html
aef07a7c46aba89bc844ff06b650097cc
std::shared_ptr< Model >
ModelPtr
namespaceRobotDynamics.html
aef07a7c46aba89bc844ff06b650097cc
std::shared_ptr< ReferenceFrame >
ReferenceFramePtr
group__reference__frame.html
gaac6181b56619c714a39a7f7e7c72d067
std::shared_ptr< ReferenceFrame >
ReferenceFramePtr
group__reference__frame.html
gaac6181b56619c714a39a7f7e7c72d067
std::vector< ReferenceFramePtr >
ReferenceFramePtrV
group__reference__frame.html
gab4a48bfe5ef8342167951a28d9bafd46
std::vector< ReferenceFramePtr >
ReferenceFramePtrV
group__reference__frame.html
gab4a48bfe5ef8342167951a28d9bafd46
JointType
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1
JointType
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1
void
calcBodyGravityWrench
group__dynamics__group.html
gaf61556c8c2ab33c66fdaf4123c484dbb
(Model &model, unsigned int body_id, RobotDynamics::Math::SpatialForce &gravity_wrench)
void
calcBodySpatialJacobian
group__kinematics__group.html
ga5c9be9d1e944f7343b8f07d1ce2b5cf9
(Model &model, const Math::VectorNd &Q, unsigned int body_id, Math::MatrixNd &G, bool update_kinematics=true)
void
calcBodySpatialJacobianDot
group__kinematics__group.html
ga35cb7ce7ecf82514560889d2f37b5359
(Model &model, const Math::VectorNd &Q, const Math::VectorNd QDot, unsigned int body_id, Math::MatrixNd &G, const bool update_kinematics=true)
void
calcContactJacobian
group__contacts__group.html
gaf9219f9d85cb8ea6c75cc24e1301e427
(Model &model, const Math::VectorNd &Q, const ConstraintSet &CS, Math::MatrixNd &G, bool update_kinematics=true)
void
calcContactSystemVariables
group__contacts__group.html
ga7685d65c3ee0278a19cca4c7bfe938fc
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS)
void
calcMInvTimesTau
group__dynamics__group.html
gaed5868aa554b411d02a3c36d50e55c87
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &Tau, Math::VectorNd &QDDot, bool update_kinematics=true)
Math::FrameVector
calcPointAcceleration
group__kinematics__group.html
gaa41f2df7072b4929056dd6219bf9ef80
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
Math::FrameVectorPair
calcPointAcceleration6D
group__kinematics__group.html
gab178f8b31aaf3c1d2166b826c104cc4c
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
Math::FrameVectorPair
calcPointAcceleration6D
group__kinematics__group.html
gac1fc71abbb937362b9559b349fefb030
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
void
calcPointJacobian
group__kinematics__group.html
ga06e6d21f8004baa4f8c304bbb7f34cc5
(Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
void
calcPointJacobian
group__kinematics__group.html
ga9e26d636b4ec05dc205f4ea48091cfa2
(Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr frame, bool update_kinematics=true)
void
calcPointJacobian6D
group__kinematics__group.html
gab859a3c462b8f8cf3850b2d42da8d25a
(Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr frame, bool update_kinematics=true)
void
calcPointJacobian6D
group__kinematics__group.html
ga38e7986ca6b97aaef4f25a798e342c49
(Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
void
calcPointJacobianDot
group__kinematics__group.html
ga14eb424f9bacc9e554a39b6a3d69cab7
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
void
calcPointJacobianDot
group__kinematics__group.html
gad0968194a51e47b0346fdb05f43b1066
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &G, bool update_kinematics=true)
void
calcPointJacobianDot6D
group__kinematics__group.html
ga717f61496d54e72c65cdfb8e95fdb6c3
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, Math::MatrixNd &G, bool update_kinematics=true)
void
calcPointJacobianDot6D
group__kinematics__group.html
gaa93d89df0f0cd90feafddc5c07129129
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
Math::FrameVector
calcPointVelocity
group__kinematics__group.html
gaaf08140e179ac81d1cc348eb6d95d07a
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
Math::FrameVectorPair
calcPointVelocity6D
group__kinematics__group.html
ga272597d591c72d56f9eb902720773fa8
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
Math::FrameVectorPair
calcPointVelocity6D
group__kinematics__group.html
ga0d6bead5f5837c581c40aacfe0271ad8
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr frame, bool update_kinematics=true)
Math::FrameVectorPair
calcPointVelocity6D
group__kinematics__group.html
ga74cd588b256273c5a11b52aee1103d5c
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, RobotDynamics::ReferenceFramePtr baseFrame, RobotDynamics::ReferenceFramePtr relativeFrame, RobotDynamics::ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)
void
calcRelativeBodySpatialJacobian
group__kinematics__group.html
gaa2846871672375fca0845c8f1f33e617
(Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)
void
calcRelativeBodySpatialJacobianAndJacobianDot
group__kinematics__group.html
ga102cdfd09b7641fac54e62a5aa4c04b3
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, Math::MatrixNd &GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)
void
calcRelativeBodySpatialJacobianDot
group__kinematics__group.html
gaf34065df76cec82d9be35708c2174a4e
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=nullptr, bool update_kinematics=true)
void
calcRelativePointJacobian6D
group__kinematics__group.html
ga47caa44319661326fa1d543878f52b1d
(Model &model, const Math::VectorNd &Q, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)
void
calcRelativePointJacobianAndJacobianDot6D
group__kinematics__group.html
ga19a4cd5e6c8aa27e61c315c958c03cf7
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, Math::MatrixNd &GDot, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)
void
calcRelativePointJacobianDot6D
group__kinematics__group.html
ga289159d6c647da09cdfab7be735737d4
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::MatrixNd &G, ReferenceFramePtr baseFrame, ReferenceFramePtr relativeFrame, ReferenceFramePtr expressedInFrame=RobotDynamics::ReferenceFrame::getWorldFrame(), bool update_kinematics=true)
Math::SpatialAcceleration
calcSpatialAcceleration
group__kinematics__group.html
ga20189fe09995f214284e82e92ac41bda
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
Math::SpatialAcceleration
calcSpatialAcceleration
group__kinematics__group.html
ga6a8a1101554d436905ec0ef058f84010
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
Math::SpatialMotion
calcSpatialVelocity
group__kinematics__group.html
gad001c8cd54aaacf5738e0e1619ebf502
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, ReferenceFramePtr body_frame, ReferenceFramePtr relative_body_frame, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
Math::SpatialMotion
calcSpatialVelocity
group__kinematics__group.html
ga31ab58ca9bb9a81e56c36673adfba4e5
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const unsigned int body_id, const unsigned int relative_body_id, ReferenceFramePtr expressedInFrame=nullptr, const bool update_kinematics=true)
void
compositeRigidBodyAlgorithm
group__dynamics__group.html
ga3ca45709dee48a60dcc11dabc9cdd6dc
(Model &model, const Math::VectorNd &Q, Math::MatrixNd &H, bool update_kinematics=true)
void
computeContactImpulsesDirect
group__contacts__group.html
gaf7949d2892b4abeca475b69ce324ba2c
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)
void
computeContactImpulsesNullSpace
group__contacts__group.html
ga15c9d9c4c197d238fee28bc1c133d2e5
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)
void
computeContactImpulsesRangeSpaceSparse
group__contacts__group.html
ga4983c94fd6c54679d864c612263573d0
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDotMinus, ConstraintSet &CS, Math::VectorNd &QDotPlus)
void
coriolisEffects
group__dynamics__group.html
ga648574d7f2728e9bbc7fd5a1431aae36
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)
void
forwardDynamics
group__dynamics__group.html
ga5e38f34883cbaa9426eb849c51c19d24
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, Math::VectorNd &QDDot, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)
void
forwardDynamicsAccelerationDeltas
namespaceRobotDynamics.html
aa0a22e717812c66ec42402c26f77c45e
(Model &model, ConstraintSet &CS, VectorNd &QDDot_t, const unsigned int body_id, const SpatialForceV &f_t)
void
forwardDynamicsApplyConstraintForces
namespaceRobotDynamics.html
a524a9554cc283acbde1fe9e66537032f
(Model &model, const VectorNd &Tau, ConstraintSet &CS, VectorNd &QDDot)
void
forwardDynamicsContactsDirect
group__contacts__group.html
gacafeb30a73e6c174556a77d4672f0668
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
void
forwardDynamicsContactsKokkevis
group__contacts__group.html
ga3f9de1e8f43c8f7c39d64e3ac855d18f
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
void
forwardDynamicsContactsNullSpace
group__contacts__group.html
gae9f9a6e32415b9f4834f4efcda2460b6
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
void
forwardDynamicsContactsRangeSpaceSparse
group__contacts__group.html
ga545363dc54175b8e2c151662d1f40074
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, ConstraintSet &CS, Math::VectorNd &QDDot)
void
forwardDynamicsLagrangian
group__dynamics__group.html
gaf18c188d6c5e52901c8fd89b01909e9d
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &Tau, Math::VectorNd &QDDot, Math::MatrixNd &H, Math::VectorNd &C, Math::LinearSolver linear_solver=Math::LinearSolverColPivHouseholderQR, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)
void
gravityEffects
group__dynamics__group.html
gaf7b656bc6f911ab59ffcfd8dc0fee891
(Model &model, Math::VectorNd &Tau)
void
inverseDynamics
group__dynamics__group.html
ga73900b255e58d162818d13e1cb7dca80
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, Math::VectorNd &Tau, Math::SpatialForceV *f_ext=nullptr, bool update_kinematics=true)
bool
inverseKinematics
namespaceRobotDynamics.html
af522b137573647f67c65f35bec08eb14
(Model &model, const VectorNd &Qinit, const std::vector< unsigned int > &body_id, const std::vector< Vector3d > &body_point, const std::vector< Vector3d > &target_pos, VectorNd &Qres, double step_tol, double lambda, unsigned int max_iter)
bool
inverseKinematics
group__kinematics__group.html
gaea4d147a4638793584b9457e35c08ba0
(Model &model, const Math::VectorNd &Qinit, const std::vector< unsigned int > &body_id, const std::vector< Math::Vector3d > &body_point, const std::vector< Math::Vector3d > &target_pos, Math::VectorNd &Qres, double step_tol=1.0e-12, double lambda=0.01, unsigned int max_iter=50)
void
jcalc
namespaceRobotDynamics.html
a40f0d5b0a2f38ae099b48aa2bfbdbd89
(Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)
void
jcalc_X_lambda_S
namespaceRobotDynamics.html
a0d3eee2483a9294ff43d711ec45572e9
(Model &model, unsigned int joint_id, const Math::VectorNd &q)
Math::SpatialTransform
jcalc_XJ
namespaceRobotDynamics.html
a2a535ac0058ad1a09913aaebab432bfd
(Model &model, unsigned int joint_id, const Math::VectorNd &q)
void
nonlinearEffects
group__dynamics__group.html
ga9bb2cb017c925f40d9320d8387afcdaa
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, Math::VectorNd &Tau, bool update_kinematics=true)
void
set_zero
namespaceRobotDynamics.html
a131195f1710f76921485ef8b32504f43
(std::vector< SpatialVector > &spatial_values)
void
solveContactSystemDirect
group__contacts__group.html
ga7318b8f1fb023b0b38517163effbeba2
(Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &A, Math::VectorNd &b, Math::VectorNd &x, Math::LinearSolver &linear_solver)
void
solveContactSystemNullSpace
group__contacts__group.html
ga9b0bb2fcd4b9ac4ae74b93bc9f1ae2d2
(Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &Y, Math::MatrixNd &Z, Math::VectorNd &qddot_y, Math::VectorNd &qddot_z, Math::LinearSolver &linear_solver)
void
solveContactSystemRangeSpaceSparse
group__contacts__group.html
gac1c2573033133a985b393a66632f0fb7
(Model &model, Math::MatrixNd &H, const Math::MatrixNd &G, const Math::VectorNd &c, const Math::VectorNd &gamma, Math::VectorNd &qddot, Math::VectorNd &lambda, Math::MatrixNd &K, Math::VectorNd &a, Math::LinearSolver linear_solver)
void
updateAccelerations
group__kinematics__group.html
ga796489443a85a518997cca5e3bc622de
(Model &model, const Math::VectorNd &QDDot)
void
updateKinematics
group__kinematics__group.html
gaf18315673ed8775cb7c3f68305a09eda
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot)
void
updateKinematicsCustom
group__kinematics__group.html
ga25f9783d557811403db67e9653742ea7
(Model &model, const Math::VectorNd *Q, const Math::VectorNd *QDot=nullptr, const Math::VectorNd *QDDot=nullptr)
void
updateKinematicsCustomParallel
group__kinematics__group.html
ga6d3c7f6a5973bc6aee38505bf0977f4f
(Model &model, const Math::VectorNd *Q, const Math::VectorNd *QDot=nullptr, const Math::VectorNd *QDDot=nullptr)
void
updateKinematicsParallel
group__kinematics__group.html
ga0b119f352e09c5ffe528a0179f823688
(Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot)
JointType1DoF
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1adae5f6347f13ad01a6b9cc5854ccd526
JointType1DoF
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1adae5f6347f13ad01a6b9cc5854ccd526
JointType2DoF
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1ac3f447fd6aa2f011623386ae49c7b22a
JointType2DoF
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1ac3f447fd6aa2f011623386ae49c7b22a
JointType3DoF
namespaceRobotDynamics.html
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JointType3DoF
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1aec2348c9606df1958089c38be6e83635
JointType4DoF
namespaceRobotDynamics.html
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JointType4DoF
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1a43363b9f2cfe0af784bbcc2f84b46ea0
JointType5DoF
namespaceRobotDynamics.html
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JointType5DoF
namespaceRobotDynamics.html
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JointType6DoF
namespaceRobotDynamics.html
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JointType6DoF
namespaceRobotDynamics.html
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JointTypeCustom
namespaceRobotDynamics.html
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JointTypeCustom
namespaceRobotDynamics.html
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JointTypeEulerXYZ
namespaceRobotDynamics.html
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JointTypeEulerXYZ
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1a333133946ba772b07910bacf416dde10
JointTypeEulerYXZ
namespaceRobotDynamics.html
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JointTypeEulerYXZ
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1a9c354b3f9812a2842de65998ea413100
JointTypeEulerZYX
namespaceRobotDynamics.html
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JointTypeEulerZYX
namespaceRobotDynamics.html
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JointTypeFixed
namespaceRobotDynamics.html
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JointTypeFixed
namespaceRobotDynamics.html
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JointTypeFloatingBase
namespaceRobotDynamics.html
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JointTypeFloatingBase
namespaceRobotDynamics.html
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JointTypePrismatic
namespaceRobotDynamics.html
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JointTypePrismatic
namespaceRobotDynamics.html
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JointTypeRevolute
namespaceRobotDynamics.html
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JointTypeRevolute
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1ac608f16fa32d7139b1756166dc6bdf7b
JointTypeRevoluteX
namespaceRobotDynamics.html
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JointTypeRevoluteX
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1a014cf531527f63d1478e844424e1b0b9
JointTypeRevoluteY
namespaceRobotDynamics.html
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JointTypeRevoluteY
namespaceRobotDynamics.html
a74a803f58b22be109f2bb5061e7abfb1a7508df0d6025d1bf4765fc46a1626923
JointTypeRevoluteZ
namespaceRobotDynamics.html
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JointTypeRevoluteZ
namespaceRobotDynamics.html
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JointTypeSpherical
namespaceRobotDynamics.html
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JointTypeSpherical
namespaceRobotDynamics.html
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JointTypeTranslationXYZ
namespaceRobotDynamics.html
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JointTypeTranslationXYZ
namespaceRobotDynamics.html
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JointTypeUndefined
namespaceRobotDynamics.html
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JointTypeUndefined
namespaceRobotDynamics.html
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