Classes
class	SpatialMotion

class	SpatialForce

class	SpatialMotionBase

class	SpatialForceBase

class	SpatialInertia

class	SpatialInertiaMatrix

struct	SpatialMotionXpr

struct	SpatialForceXpr

class	ArticulatedBody

struct	Graphics

class	Joint

struct	InverseDynamicsOptions

struct	ForwardDynamicsOptions

struct	IntegrationOptions

class	RigidBody

Typedefs
typedef SpatialMotion< float, 1 >	SpatialMotionf

typedef SpatialMotion< double, 1 >	SpatialMotiond

typedef SpatialMotion< float, 6 >	SpatialMotion6f

typedef SpatialMotion< double, 6 >	SpatialMotion6d

typedef SpatialMotion< float, Eigen::Dynamic >	SpatialMotionXf

typedef SpatialMotion< double, Eigen::Dynamic >	SpatialMotionXd

typedef SpatialForce< float, 1 >	SpatialForcef

typedef SpatialForce< double, 1 >	SpatialForced

typedef SpatialForce< float, 6 >	SpatialForce6f

typedef SpatialForce< double, 6 >	SpatialForce6d

typedef SpatialForce< float, Eigen::Dynamic >	SpatialForceXf

typedef SpatialForce< double, Eigen::Dynamic >	SpatialForceXd

typedef SpatialInertia< float >	SpatialInertiaf

typedef SpatialInertia< double >	SpatialInertiad

typedef SpatialInertiaMatrix< float >	SpatialInertiaMatrixf

typedef SpatialInertiaMatrix< double >	SpatialInertiaMatrixd

Functions
Eigen::MatrixXd	InverseDynamicsPositionDerivative (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > ddq, const std::map< size_t, SpatialForced > &f_external, const InverseDynamicsOptions &options)

Eigen::MatrixXd	InverseDynamicsVelocityDerivative (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > ddq, const std::map< size_t, SpatialForced > &f_external, const InverseDynamicsOptions &options)

Eigen::VectorXd	ForwardDynamics (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > tau, const std::map< size_t, SpatialForced > &f_external, const ForwardDynamicsOptions &options)

Eigen::VectorXd	ForwardDynamicsAba (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > tau, const std::map< size_t, SpatialForced > &f_external, const ForwardDynamicsOptions &options)

const Eigen::LDLT< Eigen::MatrixXd > &	InertiaInverse (const ArticulatedBody &ab)

const Eigen::MatrixXd &	InertiaInverseAba (const ArticulatedBody &ab)

Eigen::Vector3d	Position (const ArticulatedBody &ab, int link, const Eigen::Vector3d &offset)

Eigen::Vector3d	Position (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > q, int link, const Eigen::Vector3d &offset)

Eigen::Quaterniond	Orientation (const ArticulatedBody &ab, int link)

Eigen::Quaterniond	Orientation (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > q, int link)

Eigen::Isometry3d	CartesianPose (const ArticulatedBody &ab, int link, const Eigen::Vector3d &offset)

Eigen::Isometry3d	CartesianPose (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > q, int link, const Eigen::Vector3d &offset)

const Eigen::Matrix6Xd &	Jacobian (const ArticulatedBody &ab, int link, const Eigen::Vector3d &offset)

Eigen::Matrix6Xd	Jacobian (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > q, int link, const Eigen::Vector3d &offset)

Eigen::Ref< const Eigen::Matrix3Xd >	LinearJacobian (const ArticulatedBody &ab, int link, const Eigen::Vector3d &offset)

Eigen::Matrix3Xd	LinearJacobian (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > q, int link, const Eigen::Vector3d &offset)

Eigen::Ref< const Eigen::Matrix3Xd >	AngularJacobian (const ArticulatedBody &ab, int link)

Eigen::Matrix3Xd	AngularJacobian (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > q, int link)

Eigen::Tensor3d	Hessian (const ArticulatedBody &ab, int link, const Eigen::Vector3d &offset)

Eigen::VectorXd	InverseDynamics (const ArticulatedBody &ab, const Eigen::VectorXd &ddq, const std::map< size_t, SpatialForced > &f_external, const InverseDynamicsOptions &options)

const Eigen::VectorXd &	CentrifugalCoriolis (const ArticulatedBody &ab)

const Eigen::VectorXd &	Gravity (const ArticulatedBody &ab)

Eigen::VectorXd	ExternalTorques (const ArticulatedBody &ab, const std::map< size_t, SpatialForced > &f_external)

Eigen::VectorXd	Friction (const ArticulatedBody &ab, Eigen::Ref< const Eigen::VectorXd > tau, bool compensate, double stiction_epsilon)

const Eigen::MatrixXd &	Inertia (const ArticulatedBody &ab)

const SpatialInertiad &	CompositeInertia (const ArticulatedBody &ab, int link)

Eigen::VectorXd	InverseKinematics (const ArticulatedBody &ab_in, Eigen::Ref< const Eigen::Vector3d > x_des, const Eigen::Quaterniond &quat_des, int link, const Eigen::Vector3d &offset)

void	Integrate (ArticulatedBody &ab, const Eigen::VectorXd &tau, double dt, const std::map< size_t, SpatialForced > &f_external, const IntegrationOptions &options)

void	to_json (nlohmann::json &json, const ArticulatedBody &ab)

void	from_json (const nlohmann::json &json, ArticulatedBody &ab)

void	to_json (nlohmann::json &json, const RigidBody &rb)

void	from_json (const nlohmann::json &json, RigidBody &rb)

void	to_json (nlohmann::json &json, const Joint &joint)

void	from_json (const nlohmann::json &json, Joint &joint)

void	to_json (nlohmann::json &json, const Joint::Type &type)

void	from_json (const nlohmann::json &json, Joint::Type &type)

void	to_json (nlohmann::json &json, const SpatialInertiad &inertia)

void	from_json (const nlohmann::json &json, SpatialInertiad &inertia)

void	to_json (nlohmann::json &json, const Graphics &graphics)

void	from_json (const nlohmann::json &json, Graphics &graphics)

void	to_json (nlohmann::json &json, const Graphics::Geometry &geometry)

void	from_json (const nlohmann::json &json, Graphics::Geometry &geometry)

void	to_json (nlohmann::json &json, const Graphics::Geometry::Type &type)

void	from_json (const nlohmann::json &json, Graphics::Geometry::Type &type)

void	to_json (nlohmann::json &json, const Graphics::Material &material)

void	from_json (const nlohmann::json &json, Graphics::Material &material)

	PYBIND11_MODULE (spatialdyn, m)

void	ClearDynamicsCache (const std::unique_ptr< ArticulatedBody::Cache > &cache_)

std::ostream &	operator<< (std::ostream &os, const ArticulatedBody &ab)

std::ostream &	operator<< (std::ostream &os, const Graphics::Geometry::Type &type)

std::istream &	operator>> (std::istream &is, Graphics::Geometry::Type &type)

std::ostream &	operator<< (std::ostream &os, const Joint::Type &type)

std::istream &	operator>> (std::istream &is, Joint::Type &type)

std::ostream &	operator<< (std::ostream &os, const Joint &j)

std::ostream &	operator<< (std::ostream &os, const RigidBody &rb)

template<typename Scalar , int Dim, typename Derived >
Derived::PlainObject	operator* (const Eigen::Translation< Scalar, Dim > &T, const SpatialForceBase< Derived > &f)

template<typename Scalar , int Dim, int Mode, int Options, typename Derived >
Derived::PlainObject	operator* (const Eigen::Transform< Scalar, Dim, Mode, Options > &T, const SpatialForceBase< Derived > &f)

template<typename T , typename Derived >
Eigen::CwiseBinaryOp< Eigen::internal::scalar_product_op< typename Eigen::internal::promote_scalar_arg< typename SpatialForceBase< Derived >::Scalar, T, Eigen::internal::has_ReturnType< typename SpatialForceBase< Derived >::template ScalarOpTraits< T >::LeftProduct >::value >::type, typename SpatialForceBase< Derived >::Scalar >, const typename Eigen::internal::plain_constant_type< Derived, typename Eigen::internal::promote_scalar_arg< typename SpatialForceBase< Derived >::Scalar, T, Eigen::internal::has_ReturnType< typename SpatialForceBase< Derived >::template ScalarOpTraits< T >::LeftProduct >::value >::type >::type, const Derived >	operator* (const T &scalar, const SpatialForceBase< Derived > &m)

template<typename TransformScalar , int Dim, typename Scalar >
SpatialInertia< Scalar >	operator* (const Eigen::Translation< TransformScalar, Dim > &T, const SpatialInertia< Scalar > &I)

template<typename TransformScalar , int Dim, int Mode, int Options, typename Scalar >
SpatialInertia< Scalar >	operator* (const Eigen::Transform< TransformScalar, Dim, Mode, Options > &T, const SpatialInertia< Scalar > &I)

template<typename TransformScalar , int Dim, typename Scalar >
SpatialInertiaMatrix< Scalar >	operator* (const Eigen::Translation< TransformScalar, Dim > &T, const SpatialInertiaMatrix< Scalar > &I)

template<typename TransformScalar , int Dim, int Mode, int Options, typename Scalar >
SpatialInertiaMatrix< Scalar >	operator* (const Eigen::Transform< TransformScalar, Dim, Mode, Options > &T, const SpatialInertiaMatrix< Scalar > &I)

template<typename Scalar , int Dim, typename Derived >
Derived::PlainObject	operator* (const Eigen::Translation< Scalar, Dim > &T, const SpatialMotionBase< Derived > &m)

template<typename Scalar , int Dim, int Mode, int Options, typename Derived >
Derived::PlainObject	operator* (const Eigen::Transform< Scalar, Dim, Mode, Options > &T, const SpatialMotionBase< Derived > &m)

template<typename T , typename Derived >
Eigen::CwiseBinaryOp< Eigen::internal::scalar_product_op< typename Eigen::internal::promote_scalar_arg< typename SpatialMotionBase< Derived >::Scalar, T, Eigen::internal::has_ReturnType< typename SpatialMotionBase< Derived >::template ScalarOpTraits< T >::LeftProduct >::value >::type, typename SpatialMotionBase< Derived >::Scalar >, const typename Eigen::internal::plain_constant_type< Derived, typename Eigen::internal::promote_scalar_arg< typename SpatialMotionBase< Derived >::Scalar, T, Eigen::internal::has_ReturnType< typename SpatialMotionBase< Derived >::template ScalarOpTraits< T >::LeftProduct >::value >::type >::type, const Derived >	operator* (const T &scalar, const SpatialMotionBase< Derived > &m)

Detailed Description

discrete_dynamics.cc

Created: March 5, 2019 Authors: Toki Migimatsu

dynamics_derivatives.cc

Created: June 10, 2019 Authors: Toki Migimatsu

forward_dynamics.cc

Created: June 3, 2018 Authors: Toki Migimatsu

forward_kinematics.cc

Created: June 3, 2018 Authors: Toki Migimatsu

inverse_dynamics.cc

Created: June 3, 2018 Authors: Toki Migimatsu

opspace_dynamics.cc

Created: June 3, 2018 Authors: Toki Migimatsu

opspace_dynamics_aba.cc

Created: June 3, 2018 Authors: Toki Migimatsu

simulation.cc

Created: June 4, 2018 Authors: Toki Migimatsu

json.cc

Created: September 6, 2018 Authors: Toki Migimatsu

urdf.cc

Created: September 5, 2018 Authors: Toki Migimatsu

articulated_body.cc

Created: June 3, 2018 Authors: Toki Migimatsu

graphics.cc

Created: September 6, 2018 Authors: Toki Migimatsu

joint.cc

Created: June 3, 2018 Authors: Toki Migimatsu

options.cc

Created: January 5, 2019 Authors: Toki Migimatsu

rigid_body.cc

Created: June 3, 2018 Authors: Toki Migimatsu

discrete_dynamics.h

Created: March 5, 2019 Authors: Toki Migimatsu

dynamics_derivatives.h

Created: June 10, 2019 Authors: Toki Migimatsu

forward_dynamics.h

Created: June 4, 2018 Authors: Toki Migimatsu

forward_kinematics.h

Created: June 4, 2018 Authors: Toki Migimatsu

inverse_dynamics.h

Created: June 4, 2018 Authors: Toki Migimatsu

inverse_kinematics.h

Created: June 2, 2019 Authors: Toki Migimatsu

opspace_dynamics.h

Created: June 4, 2018 Authors: Toki Migimatsu

simulation.h

Created: June 4, 2018 Authors: Toki Migimatsu

spatial_declarations.h

Created: June 15, 2018 Authors: Toki Migimatsu

spatial_force.h

Created: June 16, 2018 Authors: Toki Migimatsu

spatial_force_base.h

Created: June 11, 2018 Authors: Toki Migimatsu

spatial_inertia.h

Created: June 17, 2018 Authors: Toki Migimatsu

spatial_math.h

Created: June 16, 2018 Authors: Toki Migimatsu

spatial_motion.h

Created: June 10, 2018 Authors: Toki Migimatsu

spatial_motion_base.h

Created: June 11, 2018 Authors: Toki Migimatsu

json.h

Created: September 6, 2018 Authors: Toki Migimatsu

urdf.h

Created: September 5, 2018 Authors: Toki Migimatsu

articulated_body.h

Created: June 8, 2018 Authors: Toki Migimatsu

articulated_body_cache.h

Created: December 11, 2018 Authors: Toki Migimatsu

graphics.h

Created: September 6, 2018 Authors: Toki Migimatsu

joint.h

Created: June 3, 2018 Authors: Toki Migimatsu

options.h

Created: January 05, 2019 Authors: Toki Migimatsu

rigid_body.h

Created: June 4, 2018 Authors: Toki Migimatsu

Function Documentation

◆ InverseKinematics()

Eigen::VectorXd spatial_dyn::InverseKinematics	(	const ArticulatedBody &	ab,
		Eigen::Ref< const Eigen::Vector3d >	x,
		const Eigen::Quaterniond &	quat,
		int	link = `-1`,
		const Eigen::Vector3d &	offset = `Eigen::Vector3d::Zero()`
	)

Compute the inverse dynamics torques given the desired acceleration ddq.

Implements the Recursive Newton Euler Algorithm (RNEA) to compute the inverse dynamic torques in O(n) time.

Parameters

ab	ArticulatedBody.
ddq	Desired joint acceleration.
f_external	Map of (index, force) pairs where the force is the sum of all external spatial forces (represented in the world frame) applied to the associated rigid body index.
options	InverseDynamicsOptions.

Returns: Inverse dynamics torques.

See also: Python: spatialdyn.inverse_dynamics()

◆ operator<<()

std::ostream & spatial_dyn::operator<<	(	std::ostream &	os,
		const Graphics::Geometry::Type &	type
	)

Output the Geometry::Type to an output stream.

The string representations of the type are "undefined", "box", "cylinder", "sphere", and "mesh".

◆ operator>>()

std::istream & spatial_dyn::operator>>	(	std::istream &	is,
		Graphics::Geometry::Type &	type
	)

Parse one token from the input stream to a Geometry::Type.

The string representations of the type are "undefined", "box", "cylinder", "sphere", and "mesh".

Classes

Typedefs

Functions

Detailed Description

Function Documentation

◆ InverseKinematics()

◆ operator<<()

◆ operator>>()