Spline()
: mc_trajectory::Spline< T, WaypointsT >
diff --git a/jp/doxygen-html/mc__rbdyn_2Robot_8h_source.html b/jp/doxygen-html/mc__rbdyn_2Robot_8h_source.html
index 163b13ccc0..4518d09bbe 100644
--- a/jp/doxygen-html/mc__rbdyn_2Robot_8h_source.html
+++ b/jp/doxygen-html/mc__rbdyn_2Robot_8h_source.html
@@ -151,548 +151,550 @@
-
-
- 103 return data_->bodySensorsIndex.count(name) != 0;
-
-
-
-
- 113 return data_->bodyBodySensors.count(body) != 0;
-
-
- 123 const BodySensor & bodySensor(
const std::string & name)
const;
-
- 132 const BodySensor & bodyBodySensor(
const std::string & name)
const;
-
-
-
-
+ 100 void addBodySensor(
const BodySensor & sensor);
+
+
+
+ 109 return data_->bodySensorsIndex.count(name) != 0;
+
+
+
+
+ 119 return data_->bodyBodySensors.count(body) != 0;
+
+
+ 129 const BodySensor & bodySensor(
const std::string & name)
const;
+
+ 138 const BodySensor & bodyBodySensor(
const std::string & name)
const;
-
-
- 147 return data()->jointJointSensors.count(joint) != 0;
-
-
- 157 const JointSensor & jointJointSensor(
const std::string & joint)
const;
-
- 160 inline const std::vector<JointSensor> &
jointSensors() const noexcept {
return data_->jointSensors; }
-
-
+
+
+
+
+
+
+ 153 return data()->jointJointSensors.count(joint) != 0;
+
+
+ 163 const JointSensor & jointJointSensor(
const std::string & joint)
const;
- 166 bool hasJoint(
const std::string & name)
const;
+ 166 inline const std::vector<JointSensor> &
jointSensors() const noexcept {
return data_->jointSensors; }
- 169 bool hasBody(
const std::string & name)
const;
+
- 172 inline bool hasFrame(
const std::string & name)
const noexcept {
return frames_.count(name) != 0; }
+ 172 bool hasJoint(
const std::string & name)
const;
-
-
- 180 auto it = frames_.find(name);
- 181 if(it != frames_.end()) {
return *it->second; }
-
-
-
-
-
- 191 return const_cast<RobotFrame &
>(
static_cast<const Robot *
>(
this)->frame(name));
-
-
- 195 std::vector<std::string> frames()
const;
-
- 211 RobotFrame & makeFrame(
const std::string & name,
RobotFrame & parent, sva::PTransformd X_p_f,
bool baked =
false);
-
-
-
- 233 sva::PTransformd X_p_f,
- 234 bool baked =
false)
const;
-
- 243 void makeFrames(std::vector<mc_rbdyn::RobotModule::FrameDescription> frames);
-
- 249 unsigned int jointIndexByName(
const std::string & name)
const;
+ 175 bool hasBody(
const std::string & name)
const;
+
+ 178 inline bool hasFrame(
const std::string & name)
const noexcept {
return frames_.count(name) != 0; }
+
+
+
+ 186 auto it = frames_.find(name);
+ 187 if(it != frames_.end()) {
return *it->second; }
+
+
+
+
+
+ 197 return const_cast<RobotFrame &
>(
static_cast<const Robot *
>(
this)->frame(name));
+
+
+ 201 std::vector<std::string> frames()
const;
+
+ 217 RobotFrame & makeFrame(
const std::string & name,
RobotFrame & parent, sva::PTransformd X_p_f,
bool baked =
false);
+
+
+
+ 239 sva::PTransformd X_p_f,
+ 240 bool baked =
false)
const;
+
+ 249 void makeFrames(std::vector<mc_rbdyn::RobotModule::FrameDescription> frames);
- 263 int jointIndexInMBC(
size_t jointIndex)
const;
-
- 269 unsigned int bodyIndexByName(
const std::string & name)
const;
+ 255 unsigned int jointIndexByName(
const std::string & name)
const;
+
+ 269 int jointIndexInMBC(
size_t jointIndex)
const;
- 272 rbd::MultiBody & mb();
- 274 const rbd::MultiBody & mb()
const;
-
- 277 rbd::MultiBodyConfig & mbc();
- 279 const rbd::MultiBodyConfig & mbc()
const;
-
- 282 rbd::MultiBodyGraph & mbg();
- 284 const rbd::MultiBodyGraph & mbg()
const;
-
- 287 const std::vector<std::vector<double>> & q()
const;
- 289 const std::vector<std::vector<double>> & alpha()
const;
- 291 const std::vector<std::vector<double>> & alphaD()
const;
- 293 const std::vector<std::vector<double>> & jointTorque()
const;
- 295 inline const std::vector<std::vector<double>> &
controlTorque() const noexcept {
return jointTorque(); }
- 297 const std::vector<sva::PTransformd> & bodyPosW()
const;
- 299 const std::vector<sva::MotionVecd> & bodyVelW()
const;
- 301 const std::vector<sva::MotionVecd> & bodyVelB()
const;
- 303 const std::vector<sva::MotionVecd> & bodyAccB()
const;
- 305 std::vector<std::vector<double>> & q();
- 307 std::vector<std::vector<double>> & alpha();
- 309 std::vector<std::vector<double>> & alphaD();
- 311 std::vector<std::vector<double>> & jointTorque();
- 313 inline std::vector<std::vector<double>> &
controlTorque() noexcept {
return jointTorque(); }
- 315 std::vector<sva::PTransformd> & bodyPosW();
- 317 std::vector<sva::MotionVecd> & bodyVelW();
- 319 std::vector<sva::MotionVecd> & bodyVelB();
- 321 std::vector<sva::MotionVecd> & bodyAccB();
-
- 327 const sva::PTransformd & bodyPosW(
const std::string & name)
const;
+ 275 unsigned int bodyIndexByName(
const std::string & name)
const;
+
+ 278 rbd::MultiBody & mb();
+ 280 const rbd::MultiBody & mb()
const;
+
+ 283 rbd::MultiBodyConfig & mbc();
+ 285 const rbd::MultiBodyConfig & mbc()
const;
+
+ 288 rbd::MultiBodyGraph & mbg();
+ 290 const rbd::MultiBodyGraph & mbg()
const;
+
+ 293 const std::vector<std::vector<double>> & q()
const;
+ 295 const std::vector<std::vector<double>> & alpha()
const;
+ 297 const std::vector<std::vector<double>> & alphaD()
const;
+ 299 const std::vector<std::vector<double>> & jointTorque()
const;
+ 301 inline const std::vector<std::vector<double>> &
controlTorque() const noexcept {
return jointTorque(); }
+ 303 const std::vector<sva::PTransformd> & bodyPosW()
const;
+ 305 const std::vector<sva::MotionVecd> & bodyVelW()
const;
+ 307 const std::vector<sva::MotionVecd> & bodyVelB()
const;
+ 309 const std::vector<sva::MotionVecd> & bodyAccB()
const;
+ 311 std::vector<std::vector<double>> & q();
+ 313 std::vector<std::vector<double>> & alpha();
+ 315 std::vector<std::vector<double>> & alphaD();
+ 317 std::vector<std::vector<double>> & jointTorque();
+ 319 inline std::vector<std::vector<double>> &
controlTorque() noexcept {
return jointTorque(); }
+ 321 std::vector<sva::PTransformd> & bodyPosW();
+ 323 std::vector<sva::MotionVecd> & bodyVelW();
+ 325 std::vector<sva::MotionVecd> & bodyVelB();
+ 327 std::vector<sva::MotionVecd> & bodyAccB();
- 335 sva::PTransformd X_b1_b2(
const std::string & b1,
const std::string & b2)
const;
-
- 341 const sva::MotionVecd & bodyVelW(
const std::string & name)
const;
+ 333 const sva::PTransformd & bodyPosW(
const std::string & name)
const;
+
+ 341 sva::PTransformd X_b1_b2(
const std::string & b1,
const std::string & b2)
const;
- 347 const sva::MotionVecd & bodyVelB(
const std::string & name)
const;
+ 347 const sva::MotionVecd & bodyVelW(
const std::string & name)
const;
- 353 const sva::MotionVecd & bodyAccB(
const std::string & name)
const;
+ 353 const sva::MotionVecd & bodyVelB(
const std::string & name)
const;
- 356 Eigen::Vector3d com()
const;
- 358 Eigen::Vector3d comVelocity()
const;
- 360 Eigen::Vector3d comAcceleration()
const;
-
- 375 sva::ForceVecd surfaceWrench(
const std::string & surfaceName)
const;
-
- 390 sva::ForceVecd bodyWrench(
const std::string & bodyName)
const;
-
- 403 Eigen::Vector2d cop(
const std::string & frame,
double min_pressure = 0.5)
const;
-
- 416 Eigen::Vector3d copW(
const std::string & frame,
double min_pressure = 0.5)
const;
-
- 425 sva::ForceVecd netWrench(
const std::vector<std::string> & sensorNames)
const;
-
- 447 Eigen::Vector3d
zmp(
const sva::ForceVecd & netTotalWrench,
- 448 const Eigen::Vector3d & plane_p,
- 449 const Eigen::Vector3d & plane_n,
- 450 double minimalNetNormalForce = 1.)
const;
-
- 467 bool zmp(Eigen::Vector3d & zmpOut,
- 468 const sva::ForceVecd & netTotalWrench,
- 469 const Eigen::Vector3d & plane_p,
- 470 const Eigen::Vector3d & plane_n,
- 471 double minimalNetNormalForce = 1.) const noexcept;
-
- 488 Eigen::Vector3d
zmp(const sva::ForceVecd & netTotalWrench,
- 489 const sva::PTransformd & zmpFrame,
- 490 double minimalNetNormalForce = 1.) const;
-
- 508 bool zmp(Eigen::Vector3d & zmpOut,
- 509 const sva::ForceVecd & netTotalWrench,
- 510 const sva::PTransformd & zmpFrame,
- 511 double minimalNetNormalForce = 1.) const noexcept;
-
- 519 Eigen::Vector3d
zmp(const
std::vector<
std::
string> & sensorNames,
- 520 const Eigen::Vector3d & plane_p,
- 521 const Eigen::Vector3d & plane_n,
- 522 double minimalNetNormalForce = 1.) const;
-
- 530 bool zmp(Eigen::Vector3d & zmpOut,
- 531 const
std::vector<
std::
string> & sensorNames,
- 532 const Eigen::Vector3d & plane_p,
- 533 const Eigen::Vector3d & plane_n,
- 534 double minimalNetNormalForce = 1.) const noexcept;
-
- 543 Eigen::Vector3d
zmp(const
std::vector<
std::
string> & sensorNames,
- 544 const sva::PTransformd & zmpFrame,
- 545 double minimalNetNormalForce = 1.) const;
-
- 554 bool zmp(Eigen::Vector3d & zmpOut,
- 555 const
std::vector<
std::
string> & sensorNames,
- 556 const sva::PTransformd & zmpFrame,
- 557 double minimalNetNormalForce = 1.) const noexcept;
-
- 560 const
std::vector<
std::vector<
double>> & ql() const;
- 562 const
std::vector<
std::vector<
double>> & qu() const;
- 564 const
std::vector<
std::vector<
double>> & vl() const;
- 566 const
std::vector<
std::vector<
double>> & vu() const;
- 568 const
std::vector<
std::vector<
double>> & al() const;
- 570 const
std::vector<
std::vector<
double>> & au() const;
- 572 const
std::vector<
std::vector<
double>> & jl() const;
- 574 const
std::vector<
std::vector<
double>> & ju() const;
- 576 const
std::vector<
std::vector<
double>> & tl() const;
- 578 const
std::vector<
std::vector<
double>> & tu() const;
- 580 const
std::vector<
std::vector<
double>> & tdl() const;
- 582 const
std::vector<
std::vector<
double>> & tdu() const;
- 584 std::vector<
std::vector<
double>> & ql();
- 586 std::vector<
std::vector<
double>> & qu();
- 588 std::vector<
std::vector<
double>> & vl();
- 590 std::vector<
std::vector<
double>> & vu();
- 592 std::vector<
std::vector<
double>> & al();
- 594 std::vector<
std::vector<
double>> & au();
- 596 std::vector<
std::vector<
double>> & jl();
- 598 std::vector<
std::vector<
double>> & ju();
- 600 std::vector<
std::vector<
double>> & tl();
- 602 std::vector<
std::vector<
double>> & tu();
- 604 std::vector<
std::vector<
double>> & tdl();
- 606 std::vector<
std::vector<
double>> & tdu();
-
-
-
-
- 620 void zmpTarget(const Eigen::Vector3d &
zmp);
-
- 626 const Eigen::Vector3d & zmpTarget() const;
+ 359 const sva::MotionVecd & bodyAccB(
const std::string & name)
const;
+
+ 362 Eigen::Vector3d com()
const;
+ 364 Eigen::Vector3d comVelocity()
const;
+ 366 Eigen::Vector3d comAcceleration()
const;
+
+ 381 sva::ForceVecd surfaceWrench(
const std::string & surfaceName)
const;
+
+ 396 sva::ForceVecd bodyWrench(
const std::string & bodyName)
const;
+
+ 409 Eigen::Vector2d cop(
const std::string & frame,
double min_pressure = 0.5)
const;
+
+ 422 Eigen::Vector3d copW(
const std::string & frame,
double min_pressure = 0.5)
const;
+
+ 431 sva::ForceVecd netWrench(
const std::vector<std::string> & sensorNames)
const;
+
+ 453 Eigen::Vector3d
zmp(
const sva::ForceVecd & netTotalWrench,
+ 454 const Eigen::Vector3d & plane_p,
+ 455 const Eigen::Vector3d & plane_n,
+ 456 double minimalNetNormalForce = 1.)
const;
+
+ 473 bool zmp(Eigen::Vector3d & zmpOut,
+ 474 const sva::ForceVecd & netTotalWrench,
+ 475 const Eigen::Vector3d & plane_p,
+ 476 const Eigen::Vector3d & plane_n,
+ 477 double minimalNetNormalForce = 1.) const noexcept;
+
+ 494 Eigen::Vector3d
zmp(const sva::ForceVecd & netTotalWrench,
+ 495 const sva::PTransformd & zmpFrame,
+ 496 double minimalNetNormalForce = 1.) const;
+
+ 514 bool zmp(Eigen::Vector3d & zmpOut,
+ 515 const sva::ForceVecd & netTotalWrench,
+ 516 const sva::PTransformd & zmpFrame,
+ 517 double minimalNetNormalForce = 1.) const noexcept;
+
+ 525 Eigen::Vector3d
zmp(const
std::vector<
std::
string> & sensorNames,
+ 526 const Eigen::Vector3d & plane_p,
+ 527 const Eigen::Vector3d & plane_n,
+ 528 double minimalNetNormalForce = 1.) const;
+
+ 536 bool zmp(Eigen::Vector3d & zmpOut,
+ 537 const
std::vector<
std::
string> & sensorNames,
+ 538 const Eigen::Vector3d & plane_p,
+ 539 const Eigen::Vector3d & plane_n,
+ 540 double minimalNetNormalForce = 1.) const noexcept;
+
+ 549 Eigen::Vector3d
zmp(const
std::vector<
std::
string> & sensorNames,
+ 550 const sva::PTransformd & zmpFrame,
+ 551 double minimalNetNormalForce = 1.) const;
+
+ 560 bool zmp(Eigen::Vector3d & zmpOut,
+ 561 const
std::vector<
std::
string> & sensorNames,
+ 562 const sva::PTransformd & zmpFrame,
+ 563 double minimalNetNormalForce = 1.) const noexcept;
+
+ 566 const
std::vector<
std::vector<
double>> & ql() const;
+ 568 const
std::vector<
std::vector<
double>> & qu() const;
+ 570 const
std::vector<
std::vector<
double>> & vl() const;
+ 572 const
std::vector<
std::vector<
double>> & vu() const;
+ 574 const
std::vector<
std::vector<
double>> & al() const;
+ 576 const
std::vector<
std::vector<
double>> & au() const;
+ 578 const
std::vector<
std::vector<
double>> & jl() const;
+ 580 const
std::vector<
std::vector<
double>> & ju() const;
+ 582 const
std::vector<
std::vector<
double>> & tl() const;
+ 584 const
std::vector<
std::vector<
double>> & tu() const;
+ 586 const
std::vector<
std::vector<
double>> & tdl() const;
+ 588 const
std::vector<
std::vector<
double>> & tdu() const;
+ 590 std::vector<
std::vector<
double>> & ql();
+ 592 std::vector<
std::vector<
double>> & qu();
+ 594 std::vector<
std::vector<
double>> & vl();
+ 596 std::vector<
std::vector<
double>> & vu();
+ 598 std::vector<
std::vector<
double>> & al();
+ 600 std::vector<
std::vector<
double>> & au();
+ 602 std::vector<
std::vector<
double>> & jl();
+ 604 std::vector<
std::vector<
double>> & ju();
+ 606 std::vector<
std::vector<
double>> & tl();
+ 608 std::vector<
std::vector<
double>> & tu();
+ 610 std::vector<
std::vector<
double>> & tdl();
+ 612 std::vector<
std::vector<
double>> & tdu();
+
+
+
+
+ 626 void zmpTarget(const Eigen::Vector3d &
zmp);
- 629 inline
double mass() const noexcept {
return mass_; }
-
- 639 inline const std::vector<double> &
encoderValues() const noexcept {
return data_->encoderValues; }
-
- 642 inline const std::vector<double> &
encoderVelocities() const noexcept {
return data_->encoderVelocities; }
-
- 645 inline const std::vector<double> &
jointTorques() const noexcept {
return data_->jointTorques; }
+ 632 const Eigen::Vector3d & zmpTarget() const;
+
+ 635 inline
double mass() const noexcept {
return mass_; }
+
+ 645 inline const std::vector<double> &
encoderValues() const noexcept {
return data_->encoderValues; }
- 648 inline const std::vector<std::string> &
refJointOrder()
const {
return data_->refJointOrder; }
+ 648 inline const std::vector<double> &
encoderVelocities() const noexcept {
return data_->encoderVelocities; }
-
+ 651 inline const std::vector<double> &
jointTorques() const noexcept {
return data_->jointTorques; }
-
-
- 668 return data_->forceSensorsIndex.count(name) != 0;
-
-
- 681 inline bool bodyHasForceSensor(
const std::string & body)
const noexcept {
return bodyForceSensors_.count(body) != 0; }
-
-
-
- 698 return bodyHasForceSensor(this->surface(surface).bodyName());
-
-
-
-
- 712 return bodyHasForceSensor(body) || findIndirectForceSensorBodyName(body).size() != 0;
-
-
-
-
- 725 return bodyHasIndirectForceSensor(this->surface(surface).bodyName());
-
-
- 737 const ForceSensor & forceSensor(
const std::string & name)
const;
-
- 750 const ForceSensor & bodyForceSensor(
const std::string & body)
const;
-
- 756 const ForceSensor * findBodyForceSensor(
const std::string & body)
const;
+ 654 inline const std::vector<std::string> &
refJointOrder()
const {
return data_->refJointOrder; }
+
+
+
+
+
+ 674 return data_->forceSensorsIndex.count(name) != 0;
+
+
+ 687 inline bool bodyHasForceSensor(
const std::string & body)
const noexcept {
return bodyForceSensors_.count(body) != 0; }
+
+
+
+ 704 return bodyHasForceSensor(this->surface(surface).bodyName());
+
+
+
+
+ 718 return bodyHasForceSensor(body) || findIndirectForceSensorBodyName(body).size() != 0;
+
+
+
+
+ 731 return bodyHasIndirectForceSensor(this->surface(surface).bodyName());
+
+
+ 743 const ForceSensor & forceSensor(
const std::string & name)
const;
+
+ 756 const ForceSensor & bodyForceSensor(
const std::string & body)
const;
- 769 const ForceSensor & surfaceForceSensor(
const std::string & surfaceName)
const;
-
- 781 const ForceSensor & indirectBodyForceSensor(
const std::string & body)
const;
-
- 795 const ForceSensor & indirectSurfaceForceSensor(
const std::string & surface)
const;
-
- 798 inline const std::vector<ForceSensor> &
forceSensors() const noexcept {
return data_->forceSensors; }
-
-
+ 762 const ForceSensor * findBodyForceSensor(
const std::string & body)
const;
+
+ 775 const ForceSensor & surfaceForceSensor(
const std::string & surfaceName)
const;
+
+ 787 const ForceSensor & indirectBodyForceSensor(
const std::string & body)
const;
+
+ 801 const ForceSensor & indirectSurfaceForceSensor(
const std::string & surface)
const;
-
- 818 bool hasDevice(
const std::string & name)
const noexcept;
-
-
- 822 inline bool hasSensor(
const std::string & name)
const noexcept
-
- 824 return hasDevice<T>(name);
-
-
-
- 839 const T & device(
const std::string & name)
const;
-
-
-
-
- 845 return const_cast<T &
>(
const_cast<const Robot *
>(
this)->device<T>(name));
-
-
-
-
-
- 853 inline const T &
sensor(
const std::string & name)
const
-
- 855 return device<T>(name);
-
-
-
- 860 inline T &
sensor(
const std::string & name)
-
- 862 return device<T>(name);
-
-
-
-
-
+ 804 inline const std::vector<ForceSensor> &
forceSensors() const noexcept {
return data_->forceSensors; }
+
+
+
+
+ 824 bool hasDevice(
const std::string & name)
const noexcept;
+
+
+ 828 inline bool hasSensor(
const std::string & name)
const noexcept
+
+ 830 return hasDevice<T>(name);
+
+
+
+ 845 const T & device(
const std::string & name)
const;
+
+
+
+
+ 851 return const_cast<T &
>(
const_cast<const Robot *
>(
this)->device<T>(name));
+
+
+
+
+
+ 859 inline const T &
sensor(
const std::string & name)
const
+
+ 861 return device<T>(name);
+
+
+
+ 866 inline T &
sensor(
const std::string & name)
+
+ 868 return device<T>(name);
+
-
+
- 878 bool hasSurface(
const std::string & surface)
const;
+
+
+
-
-
-
- 890 sva::PTransformd surfacePose(
const std::string & sName)
const;
-
- 893 mc_rbdyn::Surface & copySurface(
const std::string & sName,
const std::string & name);
-
-
+ 884 bool hasSurface(
const std::string & surface)
const;
+
+
+
+
+ 896 sva::PTransformd surfacePose(
const std::string & sName)
const;
- 899 const std::map<std::string, mc_rbdyn::SurfacePtr> & surfaces()
const;
+ 899 mc_rbdyn::Surface & copySurface(
const std::string & sName,
const std::string & name);
- 902 std::vector<std::string> availableSurfaces()
const;
+
- 908 bool hasConvex(
const std::string & name)
const;
+ 905 const std::map<std::string, mc_rbdyn::SurfacePtr> & surfaces()
const;
+
+ 908 std::vector<std::string> availableSurfaces()
const;
- 915 convex_pair_t & convex(
const std::string & cName);
- 917 const convex_pair_t & convex(
const std::string & cName)
const;
-
- 923 const std::map<std::string, convex_pair_t> & convexes()
const;
+ 914 bool hasConvex(
const std::string & name)
const;
+
+ 921 convex_pair_t & convex(
const std::string & cName);
+ 923 const convex_pair_t & convex(
const std::string & cName)
const;
- 938 void addConvex(
const std::string & name,
- 939 const std::string & body,
-
- 941 const sva::PTransformd & X_b_c = sva::PTransformd::Identity());
-
- 953 void removeConvex(
const std::string & name);
-
- 961 const sva::PTransformd & bodyTransform(
const std::string & bName)
const;
-
- 964 const sva::PTransformd & bodyTransform(
int bodyIndex)
const;
-
- 967 const std::vector<sva::PTransformd> & bodyTransforms()
const;
+ 929 const std::map<std::string, convex_pair_t> & convexes()
const;
+
+ 944 void addConvex(
const std::string & name,
+ 945 const std::string & body,
+
+ 947 const sva::PTransformd & X_b_c = sva::PTransformd::Identity());
+
+ 959 void removeConvex(
const std::string & name);
+
+ 967 const sva::PTransformd & bodyTransform(
const std::string & bName)
const;
- 970 const sva::PTransformd & collisionTransform(
const std::string & cName)
const;
+ 970 const sva::PTransformd & bodyTransform(
int bodyIndex)
const;
- 973 void loadRSDFFromDir(
const std::string & surfaceDir);
+ 973 const std::vector<sva::PTransformd> & bodyTransforms()
const;
- 976 std::map<std::string, std::vector<double>> stance()
const;
+ 976 const sva::PTransformd & collisionTransform(
const std::string & cName)
const;
-
+ 979 void loadRSDFFromDir(
const std::string & surfaceDir);
-
+ 982 std::map<std::string, std::vector<double>> stance()
const;
- 985 unsigned int robotIndex()
const;
+
- 988 void forwardKinematics();
- 990 void forwardKinematics(rbd::MultiBodyConfig & mbc)
const;
-
- 993 void forwardVelocity();
- 995 void forwardVelocity(rbd::MultiBodyConfig & mbc)
const;
-
- 998 void forwardAcceleration(
const sva::MotionVecd & A_0 = sva::MotionVecd(Eigen::Vector6d::Zero()));
- 1000 void forwardAcceleration(rbd::MultiBodyConfig & mbc,
- 1001 const sva::MotionVecd & A_0 = sva::MotionVecd(Eigen::Vector6d::Zero()))
const;
+
+
+ 991 unsigned int robotIndex()
const;
+
+ 994 void forwardKinematics();
+ 996 void forwardKinematics(rbd::MultiBodyConfig & mbc)
const;
+
+ 999 void forwardVelocity();
+ 1001 void forwardVelocity(rbd::MultiBodyConfig & mbc)
const;
- 1004 void eulerIntegration(
double step);
- 1006 void eulerIntegration(rbd::MultiBodyConfig & mbc,
double step)
const;
-
- 1009 const sva::PTransformd & posW()
const;
- 1021 void posW(
const sva::PTransformd & pt);
-
- 1029 void velW(
const sva::MotionVecd & vel);
-
- 1032 const sva::MotionVecd & velW()
const;
-
- 1040 void accW(
const sva::MotionVecd & acc);
-
- 1045 const sva::MotionVecd accW()
const;
-
-
-
-
-
- 1064 bool hasGripper(
const std::string & gripper)
const;
-
- 1066 inline const std::unordered_map<std::string, mc_control::GripperPtr> &
grippersByName() const noexcept
-
- 1068 return data_->grippers;
-
-
- 1072 inline const std::vector<mc_control::GripperRef> &
grippers() const noexcept {
return data_->grippersRef; }
-
-
+ 1004 void forwardAcceleration(
const sva::MotionVecd & A_0 = sva::MotionVecd(Eigen::Vector6d::Zero()));
+ 1006 void forwardAcceleration(rbd::MultiBodyConfig & mbc,
+ 1007 const sva::MotionVecd & A_0 = sva::MotionVecd(Eigen::Vector6d::Zero()))
const;
+
+ 1010 void eulerIntegration(
double step);
+ 1012 void eulerIntegration(rbd::MultiBodyConfig & mbc,
double step)
const;
+
+ 1015 const sva::PTransformd & posW()
const;
+ 1027 void posW(
const sva::PTransformd & pt);
+
+ 1035 void velW(
const sva::MotionVecd & vel);
+
+ 1038 const sva::MotionVecd & velW()
const;
+
+ 1046 void accW(
const sva::MotionVecd & acc);
+
+ 1051 const sva::MotionVecd accW()
const;
+
+
+
+
+
+ 1070 bool hasGripper(
const std::string & gripper)
const;
+
+ 1072 inline const std::unordered_map<std::string, mc_control::GripperPtr> &
grippersByName() const noexcept
+
+ 1074 return data_->grippers;
+
-
-
-
-
-
-
- 1097 unsigned int robots_idx_;
-
- 1099 Eigen::Vector3d zmp_;
- 1100 std::vector<sva::PTransformd> bodyTransforms_;
- 1101 std::vector<std::vector<double>> ql_;
- 1102 std::vector<std::vector<double>> qu_;
- 1103 std::vector<std::vector<double>> vl_;
- 1104 std::vector<std::vector<double>> vu_;
- 1105 std::vector<std::vector<double>> al_;
- 1106 std::vector<std::vector<double>> au_;
- 1107 std::vector<std::vector<double>> jl_;
- 1108 std::vector<std::vector<double>> ju_;
- 1109 std::vector<std::vector<double>> tl_;
- 1110 std::vector<std::vector<double>> tu_;
- 1111 std::vector<std::vector<double>> tdl_;
- 1112 std::vector<std::vector<double>> tdu_;
- 1113 std::map<std::string, convex_pair_t> convexes_;
- 1114 std::map<std::string, sva::PTransformd> collisionTransforms_;
- 1115 std::map<std::string, mc_rbdyn::SurfacePtr> surfaces_;
- 1116 std::map<std::string, std::vector<double>> stance_;
-
- 1121 std::vector<int> refJointIndexToMBCIndex_;
-
- 1125 std::vector<Flexibility> flexibility_;
- 1127 std::map<std::string, size_t> bodyForceSensors_;
- 1129 std::unordered_map<std::string, RobotFramePtr> frames_;
-
-
-
-
-
-
-
-
-
- 1146 const std::string & name,
-
- 1148 unsigned int robots_idx,
-
-
-
-
- 1154 void copyLoadedData(
Robot & destination)
const;
-
-
-
- 1171 void fixSurface(
Surface & surface);
-
- 1174 void fixCollisionTransforms();
-
- 1184 std::string findIndirectForceSensorBodyName(
const std::string & bodyName)
const;
-
-
-
-
-
-
-
-
-
- 1194 mutable std::map<std::string, mc_tvm::ConvexPtr> tvm_convexes_;
+ 1078 inline const std::vector<mc_control::GripperRef> &
grippers() const noexcept {
return data_->grippersRef; }
+
+
+
+
+
+
+
+
+
+ 1103 unsigned int robots_idx_;
+
+ 1105 Eigen::Vector3d zmp_;
+ 1106 std::vector<sva::PTransformd> bodyTransforms_;
+ 1107 std::vector<std::vector<double>> ql_;
+ 1108 std::vector<std::vector<double>> qu_;
+ 1109 std::vector<std::vector<double>> vl_;
+ 1110 std::vector<std::vector<double>> vu_;
+ 1111 std::vector<std::vector<double>> al_;
+ 1112 std::vector<std::vector<double>> au_;
+ 1113 std::vector<std::vector<double>> jl_;
+ 1114 std::vector<std::vector<double>> ju_;
+ 1115 std::vector<std::vector<double>> tl_;
+ 1116 std::vector<std::vector<double>> tu_;
+ 1117 std::vector<std::vector<double>> tdl_;
+ 1118 std::vector<std::vector<double>> tdu_;
+ 1119 std::map<std::string, convex_pair_t> convexes_;
+ 1120 std::map<std::string, sva::PTransformd> collisionTransforms_;
+ 1121 std::map<std::string, mc_rbdyn::SurfacePtr> surfaces_;
+ 1122 std::map<std::string, std::vector<double>> stance_;
+
+ 1127 std::vector<int> refJointIndexToMBCIndex_;
+
+ 1131 std::vector<Flexibility> flexibility_;
+ 1133 std::map<std::string, size_t> bodyForceSensors_;
+ 1135 std::unordered_map<std::string, RobotFramePtr> frames_;
+
+
+
+
+
+
+
+
+
+ 1152 const std::string & name,
+
+ 1154 unsigned int robots_idx,
+
+
+
+
+ 1160 void copyLoadedData(
Robot & destination)
const;
+
+
+
+ 1177 void fixSurface(
Surface & surface);
+
+ 1180 void fixCollisionTransforms();
+
+ 1190 std::string findIndirectForceSensorBodyName(
const std::string & bodyName)
const;
+
+
+
+
- 1201 void name(
const std::string & n);
-
-
-
-
-
-
- 1242 const std::string & prefix,
- 1243 bool required =
false,
- 1244 const std::string & robotIndexKey =
"robotIndex",
- 1245 const std::string & robotNameKey =
"robot",
- 1246 const std::string & defaultRobotName =
"");
-
-
-
- 1256 const std::string & prefix =
"",
- 1257 bool required =
false,
- 1258 const std::string & robotIndexKey =
"robotIndex",
- 1259 const std::string & robotNameKey =
"robot",
- 1260 const std::string & defaultRobotName =
"");
-
-
-
- 1274 const std::string & prefix =
"",
- 1275 bool required =
false,
- 1276 const std::string & robotIndexKey =
"robotIndex",
- 1277 const std::string & robotNameKey =
"robot",
- 1278 const std::string & defaultRobotName =
"");
-
-
-
-
+
+
+
+
+ 1200 mutable std::map<std::string, mc_tvm::ConvexPtr> tvm_convexes_;
+
+ 1207 void name(
const std::string & n);
+
+
+
+
+
+
+ 1248 const std::string & prefix,
+ 1249 bool required =
false,
+ 1250 const std::string & robotIndexKey =
"robotIndex",
+ 1251 const std::string & robotNameKey =
"robot",
+ 1252 const std::string & defaultRobotName =
"");
+
+
+
+ 1262 const std::string & prefix =
"",
+ 1263 bool required =
false,
+ 1264 const std::string & robotIndexKey =
"robotIndex",
+ 1265 const std::string & robotNameKey =
"robot",
+ 1266 const std::string & defaultRobotName =
"");
+
+
+
+ 1280 const std::string & prefix =
"",
+ 1281 bool required =
false,
+ 1282 const std::string & robotIndexKey =
"robotIndex",
+ 1283 const std::string & robotNameKey =
"robot",
+ 1284 const std::string & defaultRobotName =
"");
-
-
- 1288 #include <mc_rbdyn/Robot.hpp>
+
+
+
+
+
+
+ 1294 #include <mc_rbdyn/Robot.hpp>
Simplify access to values hold within a JSON file.
Definition: Configuration.h:165
bool surfaceHasIndirectForceSensor(const std::string &surface) const
Definition: Robot.h:723
bool surfaceHasIndirectForceSensor(const std::string &surface) const
Definition: Robot.h:729
Eigen::Vector3d MC_RBDYN_DLLAPI zmp(const sva::ForceVecd &netTotalWrench, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.)
Actual ZMP computation from net total wrench and the ZMP plane.
const std::vector< JointSensor > & jointSensors() const noexcept
Definition: Robot.h:160
bool surfaceHasForceSensor(const std::string &surface) const
Checks if the surface has a force sensor directly attached to it.
Definition: Robot.h:696
const std::vector< ForceSensor > & forceSensors() const noexcept
Definition: Robot.h:798
const std::vector< JointSensor > & jointSensors() const noexcept
Definition: Robot.h:166
bool surfaceHasForceSensor(const std::string &surface) const
Checks if the surface has a force sensor directly attached to it.
Definition: Robot.h:702
const std::vector< ForceSensor > & forceSensors() const noexcept
Definition: Robot.h:804
std::shared_ptr< sch::S_Object > S_ObjectPtr
Definition: RobotModule.h:35
bool hasBodySensor(const std::string &name) const noexcept
Definition: Robot.h:101
const mc_rbdyn::Robots & robots() const noexcept
Definition: Robot.h:982
bool hasFrame(const std::string &name) const noexcept
Definition: Robot.h:172
bool hasBodySensor(const std::string &name) const noexcept
Definition: Robot.h:107
const mc_rbdyn::Robots & robots() const noexcept
Definition: Robot.h:988
bool hasFrame(const std::string &name) const noexcept
Definition: Robot.h:178
Definition: RobotModule.h:41
bool jointHasJointSensor(const std::string &joint) const noexcept
Definition: Robot.h:145
bool jointHasJointSensor(const std::string &joint) const noexcept
Definition: Robot.h:151
std::shared_ptr< Surface > SurfacePtr
Definition: Surface.h:72
bool hasSensor(const std::string &name) const noexcept
Definition: Robot.h:822
std::vector< std::vector< double > > & controlTorque() noexcept
Definition: Robot.h:313
bool hasSensor(const std::string &name) const noexcept
Definition: Robot.h:828
std::vector< std::vector< double > > & controlTorque() noexcept
Definition: Robot.h:319
std::pair< std::string, S_ObjectPtr > convex_pair_t
Definition: Robot.h:68
const std::vector< double > & encoderVelocities() const noexcept
Definition: Robot.h:642
const std::vector< double > & encoderVelocities() const noexcept
Definition: Robot.h:648
bool bodyHasForceSensor(const std::string &body) const noexcept
Definition: Robot.h:681
bool bodyHasForceSensor(const std::string &body) const noexcept
Definition: Robot.h:687
Definition: ForceSensor.h:19
bool bodyHasBodySensor(const std::string &body) const noexcept
Definition: Robot.h:111
bool bodyHasBodySensor(const std::string &body) const noexcept
Definition: Robot.h:117
unsigned int MC_RBDYN_DLLAPI robotIndexFromConfig(const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix="", bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
Helper to obtain the robot index from configuration.
DevicePtr SensorPtr
Definition: Device.h:22
std::shared_ptr< RobotData > RobotDataPtr
Definition: RobotData.h:65
bool hasForceSensor(const std::string &name) const noexcept
Definition: Robot.h:666
bool hasForceSensor(const std::string &name) const noexcept
Definition: Robot.h:672
const MC_RBDYN_DLLAPI mc_rbdyn::Robot & robotFromConfig(const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix, bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
Obtains a reference to a loaded robot from configuration (using robotName or robotIndex)
Definition: RobotFrame.h:21
Definition: RobotModule.h:69
mc_rbdyn::Robots & robots() noexcept
Definition: Robot.h:979
mc_rbdyn::Robots & robots() noexcept
Definition: Robot.h:985
std::unique_ptr< Robot > RobotPtr
Definition: fwd.h:25
#define MAKE_LOAD_ROBOT_PARAMETER_SETTER(T, NAME)
Definition: Robot.h:47
const std::unordered_map< std::string, mc_control::GripperPtr > & grippersByName() const noexcept
Definition: Robot.h:1066
const std::unordered_map< std::string, mc_control::GripperPtr > & grippersByName() const noexcept
Definition: Robot.h:1072
Definition: BodySensor.h:19
T & device(const std::string &name)
Definition: Robot.h:843
const std::vector< mc_control::GripperRef > & grippers() const noexcept
Definition: Robot.h:1072
T & device(const std::string &name)
Definition: Robot.h:849
const std::vector< mc_control::GripperRef > & grippers() const noexcept
Definition: Robot.h:1078
void error_and_throw(Args &&... args)
Definition: logging.h:47
#define MC_RBDYN_DLLAPI
Definition: api.h:50
const T & sensor(const std::string &name) const
Definition: Robot.h:853
const T & sensor(const std::string &name) const
Definition: Robot.h:859
std::shared_ptr< RobotFrame > RobotFramePtr
Definition: fwd.h:24
const std::vector< std::string > & refJointOrder() const
Definition: Robot.h:648
void addSensor(SensorPtr sensor)
Definition: Robot.h:869
T & sensor(const std::string &name)
Definition: Robot.h:860
const RobotFrame & frame(const std::string &name) const
Definition: Robot.h:178
const std::vector< std::vector< double > > & controlTorque() const noexcept
Definition: Robot.h:295
const DevicePtrVector & devices() const noexcept
Definition: Robot.h:849
const std::vector< std::string > & refJointOrder() const
Definition: Robot.h:654
void addSensor(SensorPtr sensor)
Definition: Robot.h:875
T & sensor(const std::string &name)
Definition: Robot.h:866
const RobotFrame & frame(const std::string &name) const
Definition: Robot.h:184
const std::vector< std::vector< double > > & controlTorque() const noexcept
Definition: Robot.h:301
const DevicePtrVector & devices() const noexcept
Definition: Robot.h:855
std::vector< BodySensor, Eigen::aligned_allocator< BodySensor > > BodySensorVector
Definition: BodySensor.h:145
std::unique_ptr< Device > DevicePtr
Definition: Device.h:20
A robot's gripper reprensentation.
Definition: generic_gripper.h:34
Definition: generic_gripper.h:14
bool bodyHasIndirectForceSensor(const std::string &body) const
Definition: Robot.h:710
const std::vector< double > & jointTorques() const noexcept
Definition: Robot.h:645
const RobotDataPtr data() const noexcept
Definition: Robot.h:1075
bool bodyHasIndirectForceSensor(const std::string &body) const
Definition: Robot.h:716
const std::vector< double > & jointTorques() const noexcept
Definition: Robot.h:651
const RobotDataPtr data() const noexcept
Definition: Robot.h:1081
auto Robot(const std::string &name, GetT get_fn)
Definition: Robot.h:56
Definition: JointSensor.h:17
RobotFrame & frame(const std::string &name)
Definition: Robot.h:189
const BodySensorVector & bodySensors() const noexcept
Definition: Robot.h:135
RobotFrame & frame(const std::string &name)
Definition: Robot.h:195
const BodySensorVector & bodySensors() const noexcept
Definition: Robot.h:141
const BodySensor & bodySensor() const noexcept
Definition: Robot.h:94
std::string MC_RBDYN_DLLAPI robotNameFromConfig(const mc_rtc::Configuration &config, const mc_rbdyn::Robots &robots, const std::string &prefix="", bool required=false, const std::string &robotIndexKey="robotIndex", const std::string &robotNameKey="robot", const std::string &defaultRobotName="")
Helper to obtain the robot name from configuration.
Definition: Flexibility.h:24
const std::vector< double > & encoderValues() const noexcept
Definition: Robot.h:639
const std::vector< double > & encoderValues() const noexcept
Definition: Robot.h:645
diff --git a/jp/doxygen-html/mc_rtc.doxytag b/jp/doxygen-html/mc_rtc.doxytag
index 005d34eb59..7cfc0bdb7f 100644
--- a/jp/doxygen-html/mc_rtc.doxytag
+++ b/jp/doxygen-html/mc_rtc.doxytag
@@ -33090,6 +33090,13 @@
a41b7c80447b0d61661bfc2a0242eaa8f
() const noexcept
+
+ void
+ addBodySensor
+ structmc__rbdyn_1_1Robot.html
+ aea55ad48f3307dc57c674d851e47ecd8
+ (const BodySensor &sensor)
+
bool
hasBodySensor
@@ -33889,6 +33896,13 @@
a41b7c80447b0d61661bfc2a0242eaa8f
() const noexcept
+
+ void
+ addBodySensor
+ structmc__rbdyn_1_1Robot.html
+ aea55ad48f3307dc57c674d851e47ecd8
+ (const BodySensor &sensor)
+
bool
hasBodySensor
diff --git a/jp/doxygen-html/navtreedata.js b/jp/doxygen-html/navtreedata.js
index fb93e17d28..56d8f42b51 100644
--- a/jp/doxygen-html/navtreedata.js
+++ b/jp/doxygen-html/navtreedata.js
@@ -78,18 +78,18 @@ var NAVTREEINDEX =
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"structmc__observers_1_1ObserverPipeline.html#ae95d55cd84f06d83369b082fa2be0646",
"structmc__rbdyn_1_1JointSensor.html#aea5410f5e72c9a14732809820c5b7fc7",
-"structmc__rbdyn_1_1RobotFrame.html#a3e0f90eac149c38be620e57b08e1ba78",
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+"structmc__tvm_1_1CoMFunction.html#a42e696fc4884732ad24f750498cfaa73",
+"traits_8h.html#a62d70a1c5467de8404eceee15a80da68"
];
var SYNCONMSG = 'click to disable panel synchronisation';
diff --git a/jp/doxygen-html/navtreeindex11.js b/jp/doxygen-html/navtreeindex11.js
index 3a2a5a12a5..51d7f21f0f 100644
--- a/jp/doxygen-html/navtreeindex11.js
+++ b/jp/doxygen-html/navtreeindex11.js
@@ -32,184 +32,185 @@ var NAVTREEINDEX11 =
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"structmc__rbdyn_1_1Robot.html":[6,0,6,23],
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+ ['outputcrit_5f_5597',['outputCrit_',['../structmc__control_1_1fsm_1_1MetaTasksState.html#a15385e3dba9c3a9ceacf9aa32ee4d0b5',1,'mc_control::fsm::MetaTasksState']]],
+ ['outputrealrobots_5f_5598',['outputRealRobots_',['../structmc__control_1_1MCController.html#a389be3c7a5ded058156621b73cb240a3',1,'mc_control::MCController']]],
+ ['outputrobots_5f_5599',['outputRobots_',['../structmc__control_1_1MCController.html#aacbfcf3ecd0fc3aeec5cc4b9611e3324',1,'mc_control::MCController']]],
+ ['outputstates_5f_5600',['outputStates_',['../structmc__control_1_1fsm_1_1ParallelState.html#a9ce6f4335845118f747a356c6e9ca289',1,'mc_control::fsm::ParallelState']]],
+ ['overcommandlimit_5601',['overCommandLimit',['../structmc__control_1_1Gripper.html#aff69bd84c7afd52a4633b5dd49d70170',1,'mc_control::Gripper']]],
+ ['overcommandlimititer_5602',['overCommandLimitIter',['../structmc__control_1_1Gripper.html#acd2dade357fca9fa8f2261a8f29fc6b7',1,'mc_control::Gripper']]],
+ ['overcommandlimititern_5603',['overCommandLimitIterN',['../structmc__rbdyn_1_1RobotModule_1_1Gripper_1_1Safety.html#abc220529be43405fe7ce241a436568ce',1,'mc_rbdyn::RobotModule::Gripper::Safety']]],
+ ['ownsanchorframecallback_5f_5604',['ownsAnchorFrameCallback_',['../structmc__control_1_1fsm_1_1StabilizerStandingState.html#a838773b625da8cdbca55e0a40f074bc9',1,'mc_control::fsm::StabilizerStandingState']]]
];
diff --git a/jp/doxygen-html/structmc__rbdyn_1_1Robot-members.html b/jp/doxygen-html/structmc__rbdyn_1_1Robot-members.html
index 03e620b767..0819ea5bc2 100644
--- a/jp/doxygen-html/structmc__rbdyn_1_1Robot-members.html
+++ b/jp/doxygen-html/structmc__rbdyn_1_1Robot-members.html
@@ -80,182 +80,183 @@
| accW(const sva::MotionVecd &acc) | mc_rbdyn::Robot | |
| accW() const | mc_rbdyn::Robot | |
- | addConvex(const std::string &name, const std::string &body, S_ObjectPtr convex, const sva::PTransformd &X_b_c=sva::PTransformd::Identity()) | mc_rbdyn::Robot | |
- | addDevice(DevicePtr device) | mc_rbdyn::Robot | |
- | addSensor(SensorPtr sensor) | mc_rbdyn::Robot | inline |
- | addSurface(mc_rbdyn::SurfacePtr surface, bool doNotReplace=true) | mc_rbdyn::Robot | |
- | al() const | mc_rbdyn::Robot | |
- | al() | mc_rbdyn::Robot | |
- | alpha() const | mc_rbdyn::Robot | |
- | alpha() | mc_rbdyn::Robot | |
- | alphaD() const | mc_rbdyn::Robot | |
- | alphaD() | mc_rbdyn::Robot | |
- | au() const | mc_rbdyn::Robot | |
- | au() | mc_rbdyn::Robot | |
- | availableSurfaces() const | mc_rbdyn::Robot | |
- | bodyAccB() const | mc_rbdyn::Robot | |
- | bodyAccB() | mc_rbdyn::Robot | |
- | bodyAccB(const std::string &name) const | mc_rbdyn::Robot | |
- | bodyBodySensor(const std::string &name) const | mc_rbdyn::Robot | |
- | bodyForceSensor(const std::string &body) const | mc_rbdyn::Robot | |
- | bodyHasBodySensor(const std::string &body) const noexcept | mc_rbdyn::Robot | inline |
- | bodyHasForceSensor(const std::string &body) const noexcept | mc_rbdyn::Robot | inline |
- | bodyHasIndirectForceSensor(const std::string &body) const | mc_rbdyn::Robot | inline |
- | bodyIndexByName(const std::string &name) const | mc_rbdyn::Robot | |
- | bodyPosW() const | mc_rbdyn::Robot | |
- | bodyPosW() | mc_rbdyn::Robot | |
- | bodyPosW(const std::string &name) const | mc_rbdyn::Robot | |
- | bodySensor() const noexcept | mc_rbdyn::Robot | inline |
- | bodySensor(const std::string &name) const | mc_rbdyn::Robot | |
- | bodySensors() const noexcept | mc_rbdyn::Robot | inline |
- | bodyTransform(const std::string &bName) const | mc_rbdyn::Robot | |
- | bodyTransform(int bodyIndex) const | mc_rbdyn::Robot | |
- | bodyTransforms() const | mc_rbdyn::Robot | |
- | bodyVelB() const | mc_rbdyn::Robot | |
- | bodyVelB() | mc_rbdyn::Robot | |
- | bodyVelB(const std::string &name) const | mc_rbdyn::Robot | |
- | bodyVelW() const | mc_rbdyn::Robot | |
- | bodyVelW() | mc_rbdyn::Robot | |
- | bodyVelW(const std::string &name) const | mc_rbdyn::Robot | |
- | bodyWrench(const std::string &bodyName) const | mc_rbdyn::Robot | |
- | collisionTransform(const std::string &cName) const | mc_rbdyn::Robot | |
- | com() const | mc_rbdyn::Robot | |
- | comAcceleration() const | mc_rbdyn::Robot | |
- | comVelocity() const | mc_rbdyn::Robot | |
- | controlTorque() const noexcept | mc_rbdyn::Robot | inline |
- | controlTorque() noexcept | mc_rbdyn::Robot | inline |
- | convex(const std::string &cName) | mc_rbdyn::Robot | |
- | convex(const std::string &cName) const | mc_rbdyn::Robot | |
- | convex_pair_t typedef | mc_rbdyn::Robot | |
- | convexes() const | mc_rbdyn::Robot | |
- | cop(const std::string &frame, double min_pressure=0.5) const | mc_rbdyn::Robot | |
- | copW(const std::string &frame, double min_pressure=0.5) const | mc_rbdyn::Robot | |
- | copyLoadedData(Robot &destination) const | mc_rbdyn::Robot | protected |
- | copySurface(const std::string &sName, const std::string &name) | mc_rbdyn::Robot | |
- | data() const noexcept | mc_rbdyn::Robot | inline |
- | device(const std::string &name) const | mc_rbdyn::Robot | |
- | device(const std::string &name) | mc_rbdyn::Robot | inline |
- | devices() const noexcept | mc_rbdyn::Robot | inline |
- | encoderValues() const noexcept | mc_rbdyn::Robot | inline |
- | encoderVelocities() const noexcept | mc_rbdyn::Robot | inline |
- | eulerIntegration(double step) | mc_rbdyn::Robot | |
- | eulerIntegration(rbd::MultiBodyConfig &mbc, double step) const | mc_rbdyn::Robot | |
- | findBodyForceSensor(const std::string &body) const | mc_rbdyn::Robot | |
- | findIndirectForceSensorBodyName(const std::string &bodyName) const | mc_rbdyn::Robot | protected |
- | fixCollisionTransforms() | mc_rbdyn::Robot | protected |
- | fixSurface(Surface &surface) | mc_rbdyn::Robot | protected |
- | fixSurfaces() | mc_rbdyn::Robot | protected |
- | flexibility() const | mc_rbdyn::Robot | |
- | flexibility() | mc_rbdyn::Robot | |
- | forceSensor(const std::string &name) const | mc_rbdyn::Robot | |
- | forceSensors() const noexcept | mc_rbdyn::Robot | inline |
- | forwardAcceleration(const sva::MotionVecd &A_0=sva::MotionVecd(Eigen::Vector6d::Zero())) | mc_rbdyn::Robot | |
- | forwardAcceleration(rbd::MultiBodyConfig &mbc, const sva::MotionVecd &A_0=sva::MotionVecd(Eigen::Vector6d::Zero())) const | mc_rbdyn::Robot | |
- | forwardKinematics() | mc_rbdyn::Robot | |
- | forwardKinematics(rbd::MultiBodyConfig &mbc) const | mc_rbdyn::Robot | |
- | forwardVelocity() | mc_rbdyn::Robot | |
- | forwardVelocity(rbd::MultiBodyConfig &mbc) const | mc_rbdyn::Robot | |
- | frame(const std::string &name) const | mc_rbdyn::Robot | inline |
- | frame(const std::string &name) | mc_rbdyn::Robot | inline |
- | frames() const | mc_rbdyn::Robot | |
- | gripper(const std::string &gripper) | mc_rbdyn::Robot | |
- | gripper(const std::string &gripper) const | mc_rbdyn::Robot | |
- | grippers() const noexcept | mc_rbdyn::Robot | inline |
- | grippersByName() const noexcept | mc_rbdyn::Robot | inline |
- | hasBody(const std::string &name) const | mc_rbdyn::Robot | |
- | hasBodySensor(const std::string &name) const noexcept | mc_rbdyn::Robot | inline |
- | hasConvex(const std::string &name) const | mc_rbdyn::Robot | |
- | hasDevice(const std::string &name) const noexcept | mc_rbdyn::Robot | |
- | hasForceSensor(const std::string &name) const noexcept | mc_rbdyn::Robot | inline |
- | hasFrame(const std::string &name) const noexcept | mc_rbdyn::Robot | inline |
- | hasGripper(const std::string &gripper) const | mc_rbdyn::Robot | |
- | hasJoint(const std::string &name) const | mc_rbdyn::Robot | |
- | hasSensor(const std::string &name) const noexcept | mc_rbdyn::Robot | inline |
- | hasSurface(const std::string &surface) const | mc_rbdyn::Robot | |
- | indirectBodyForceSensor(const std::string &body) const | mc_rbdyn::Robot | |
- | indirectSurfaceForceSensor(const std::string &surface) const | mc_rbdyn::Robot | |
- | jl() const | mc_rbdyn::Robot | |
- | jl() | mc_rbdyn::Robot | |
- | jointHasJointSensor(const std::string &joint) const noexcept | mc_rbdyn::Robot | inline |
- | jointIndexByName(const std::string &name) const | mc_rbdyn::Robot | |
- | jointIndexInMBC(size_t jointIndex) const | mc_rbdyn::Robot | |
- | jointJointSensor(const std::string &joint) const | mc_rbdyn::Robot | |
- | jointSensors() const noexcept | mc_rbdyn::Robot | inline |
- | jointTorque() const | mc_rbdyn::Robot | |
- | jointTorque() | mc_rbdyn::Robot | |
- | jointTorques() const noexcept | mc_rbdyn::Robot | inline |
- | ju() const | mc_rbdyn::Robot | |
- | ju() | mc_rbdyn::Robot | |
- | loadRSDFFromDir(const std::string &surfaceDir) | mc_rbdyn::Robot | |
- | makeFrame(const std::string &name, RobotFrame &parent, sva::PTransformd X_p_f, bool baked=false) | mc_rbdyn::Robot | |
- | makeFrames(std::vector< mc_rbdyn::RobotModule::FrameDescription > frames) | mc_rbdyn::Robot | |
- | makeTemporaryFrame(const std::string &name, const RobotFrame &parent, sva::PTransformd X_p_f, bool baked=false) const | mc_rbdyn::Robot | |
- | mass() const noexcept | mc_rbdyn::Robot | inline |
- | mb() | mc_rbdyn::Robot | |
- | mb() const | mc_rbdyn::Robot | |
- | mbc() | mc_rbdyn::Robot | |
- | mbc() const | mc_rbdyn::Robot | |
- | mbg() | mc_rbdyn::Robot | |
- | mbg() const | mc_rbdyn::Robot | |
- | module() const | mc_rbdyn::Robot | |
- | name() const | mc_rbdyn::Robot | |
- | netWrench(const std::vector< std::string > &sensorNames) const | mc_rbdyn::Robot | |
- | operator=(Robot &&) | mc_rbdyn::Robot | |
- | posW() const | mc_rbdyn::Robot | |
- | posW(const sva::PTransformd &pt) | mc_rbdyn::Robot | |
- | q() const | mc_rbdyn::Robot | |
- | q() | mc_rbdyn::Robot | |
- | ql() const | mc_rbdyn::Robot | |
- | ql() | mc_rbdyn::Robot | |
- | qu() const | mc_rbdyn::Robot | |
- | qu() | mc_rbdyn::Robot | |
- | refJointOrder() const | mc_rbdyn::Robot | inline |
- | removeConvex(const std::string &name) | mc_rbdyn::Robot | |
- | Robot(Robot &&) | mc_rbdyn::Robot | |
- | Robot(NewRobotToken, const std::string &name, Robots &robots, unsigned int robots_idx, bool loadFiles, const LoadRobotParameters ¶ms={}) | mc_rbdyn::Robot | |
- | robotIndex() const | mc_rbdyn::Robot | |
- | Robots | mc_rbdyn::Robot | friend |
- | robots() noexcept | mc_rbdyn::Robot | inline |
- | robots() const noexcept | mc_rbdyn::Robot | inline |
- | sensor(const std::string &name) const | mc_rbdyn::Robot | inline |
- | sensor(const std::string &name) | mc_rbdyn::Robot | inline |
- | stance() const | mc_rbdyn::Robot | |
- | surface(const std::string &sName) | mc_rbdyn::Robot | |
- | surface(const std::string &sName) const | mc_rbdyn::Robot | |
- | surfaceForceSensor(const std::string &surfaceName) const | mc_rbdyn::Robot | |
- | surfaceHasForceSensor(const std::string &surface) const | mc_rbdyn::Robot | inline |
- | surfaceHasIndirectForceSensor(const std::string &surface) const | mc_rbdyn::Robot | inline |
- | surfacePose(const std::string &sName) const | mc_rbdyn::Robot | |
- | surfaces() const | mc_rbdyn::Robot | |
- | surfaceWrench(const std::string &surfaceName) const | mc_rbdyn::Robot | |
- | tdl() const | mc_rbdyn::Robot | |
- | tdl() | mc_rbdyn::Robot | |
- | tdu() const | mc_rbdyn::Robot | |
- | tdu() | mc_rbdyn::Robot | |
- | tl() const | mc_rbdyn::Robot | |
- | tl() | mc_rbdyn::Robot | |
- | tu() const | mc_rbdyn::Robot | |
- | tu() | mc_rbdyn::Robot | |
- | tvmConvex(const std::string &name) const | mc_rbdyn::Robot | |
- | tvmRobot() const | mc_rbdyn::Robot | |
- | velW(const sva::MotionVecd &vel) | mc_rbdyn::Robot | |
- | velW() const | mc_rbdyn::Robot | |
- | vl() const | mc_rbdyn::Robot | |
- | vl() | mc_rbdyn::Robot | |
- | vu() const | mc_rbdyn::Robot | |
- | vu() | mc_rbdyn::Robot | |
- | X_b1_b2(const std::string &b1, const std::string &b2) const | mc_rbdyn::Robot | |
- | zmp(const sva::ForceVecd &netTotalWrench, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const | mc_rbdyn::Robot | |
- | zmp(Eigen::Vector3d &zmpOut, const sva::ForceVecd &netTotalWrench, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const noexcept | mc_rbdyn::Robot | |
- | zmp(const sva::ForceVecd &netTotalWrench, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const | mc_rbdyn::Robot | |
- | zmp(Eigen::Vector3d &zmpOut, const sva::ForceVecd &netTotalWrench, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const noexcept | mc_rbdyn::Robot | |
- | zmp(const std::vector< std::string > &sensorNames, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const | mc_rbdyn::Robot | |
- | zmp(Eigen::Vector3d &zmpOut, const std::vector< std::string > &sensorNames, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const noexcept | mc_rbdyn::Robot | |
- | zmp(const std::vector< std::string > &sensorNames, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const | mc_rbdyn::Robot | |
- | zmp(Eigen::Vector3d &zmpOut, const std::vector< std::string > &sensorNames, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const noexcept | mc_rbdyn::Robot | |
- | zmpTarget(const Eigen::Vector3d &zmp) | mc_rbdyn::Robot | |
- | zmpTarget() const | mc_rbdyn::Robot | |
- | ~Robot() | mc_rbdyn::Robot | |
+ | addBodySensor(const BodySensor &sensor) | mc_rbdyn::Robot | |
+ | addConvex(const std::string &name, const std::string &body, S_ObjectPtr convex, const sva::PTransformd &X_b_c=sva::PTransformd::Identity()) | mc_rbdyn::Robot | |
+ | addDevice(DevicePtr device) | mc_rbdyn::Robot | |
+ | addSensor(SensorPtr sensor) | mc_rbdyn::Robot | inline |
+ | addSurface(mc_rbdyn::SurfacePtr surface, bool doNotReplace=true) | mc_rbdyn::Robot | |
+ | al() const | mc_rbdyn::Robot | |
+ | al() | mc_rbdyn::Robot | |
+ | alpha() const | mc_rbdyn::Robot | |
+ | alpha() | mc_rbdyn::Robot | |
+ | alphaD() const | mc_rbdyn::Robot | |
+ | alphaD() | mc_rbdyn::Robot | |
+ | au() const | mc_rbdyn::Robot | |
+ | au() | mc_rbdyn::Robot | |
+ | availableSurfaces() const | mc_rbdyn::Robot | |
+ | bodyAccB() const | mc_rbdyn::Robot | |
+ | bodyAccB() | mc_rbdyn::Robot | |
+ | bodyAccB(const std::string &name) const | mc_rbdyn::Robot | |
+ | bodyBodySensor(const std::string &name) const | mc_rbdyn::Robot | |
+ | bodyForceSensor(const std::string &body) const | mc_rbdyn::Robot | |
+ | bodyHasBodySensor(const std::string &body) const noexcept | mc_rbdyn::Robot | inline |
+ | bodyHasForceSensor(const std::string &body) const noexcept | mc_rbdyn::Robot | inline |
+ | bodyHasIndirectForceSensor(const std::string &body) const | mc_rbdyn::Robot | inline |
+ | bodyIndexByName(const std::string &name) const | mc_rbdyn::Robot | |
+ | bodyPosW() const | mc_rbdyn::Robot | |
+ | bodyPosW() | mc_rbdyn::Robot | |
+ | bodyPosW(const std::string &name) const | mc_rbdyn::Robot | |
+ | bodySensor() const noexcept | mc_rbdyn::Robot | inline |
+ | bodySensor(const std::string &name) const | mc_rbdyn::Robot | |
+ | bodySensors() const noexcept | mc_rbdyn::Robot | inline |
+ | bodyTransform(const std::string &bName) const | mc_rbdyn::Robot | |
+ | bodyTransform(int bodyIndex) const | mc_rbdyn::Robot | |
+ | bodyTransforms() const | mc_rbdyn::Robot | |
+ | bodyVelB() const | mc_rbdyn::Robot | |
+ | bodyVelB() | mc_rbdyn::Robot | |
+ | bodyVelB(const std::string &name) const | mc_rbdyn::Robot | |
+ | bodyVelW() const | mc_rbdyn::Robot | |
+ | bodyVelW() | mc_rbdyn::Robot | |
+ | bodyVelW(const std::string &name) const | mc_rbdyn::Robot | |
+ | bodyWrench(const std::string &bodyName) const | mc_rbdyn::Robot | |
+ | collisionTransform(const std::string &cName) const | mc_rbdyn::Robot | |
+ | com() const | mc_rbdyn::Robot | |
+ | comAcceleration() const | mc_rbdyn::Robot | |
+ | comVelocity() const | mc_rbdyn::Robot | |
+ | controlTorque() const noexcept | mc_rbdyn::Robot | inline |
+ | controlTorque() noexcept | mc_rbdyn::Robot | inline |
+ | convex(const std::string &cName) | mc_rbdyn::Robot | |
+ | convex(const std::string &cName) const | mc_rbdyn::Robot | |
+ | convex_pair_t typedef | mc_rbdyn::Robot | |
+ | convexes() const | mc_rbdyn::Robot | |
+ | cop(const std::string &frame, double min_pressure=0.5) const | mc_rbdyn::Robot | |
+ | copW(const std::string &frame, double min_pressure=0.5) const | mc_rbdyn::Robot | |
+ | copyLoadedData(Robot &destination) const | mc_rbdyn::Robot | protected |
+ | copySurface(const std::string &sName, const std::string &name) | mc_rbdyn::Robot | |
+ | data() const noexcept | mc_rbdyn::Robot | inline |
+ | device(const std::string &name) const | mc_rbdyn::Robot | |
+ | device(const std::string &name) | mc_rbdyn::Robot | inline |
+ | devices() const noexcept | mc_rbdyn::Robot | inline |
+ | encoderValues() const noexcept | mc_rbdyn::Robot | inline |
+ | encoderVelocities() const noexcept | mc_rbdyn::Robot | inline |
+ | eulerIntegration(double step) | mc_rbdyn::Robot | |
+ | eulerIntegration(rbd::MultiBodyConfig &mbc, double step) const | mc_rbdyn::Robot | |
+ | findBodyForceSensor(const std::string &body) const | mc_rbdyn::Robot | |
+ | findIndirectForceSensorBodyName(const std::string &bodyName) const | mc_rbdyn::Robot | protected |
+ | fixCollisionTransforms() | mc_rbdyn::Robot | protected |
+ | fixSurface(Surface &surface) | mc_rbdyn::Robot | protected |
+ | fixSurfaces() | mc_rbdyn::Robot | protected |
+ | flexibility() const | mc_rbdyn::Robot | |
+ | flexibility() | mc_rbdyn::Robot | |
+ | forceSensor(const std::string &name) const | mc_rbdyn::Robot | |
+ | forceSensors() const noexcept | mc_rbdyn::Robot | inline |
+ | forwardAcceleration(const sva::MotionVecd &A_0=sva::MotionVecd(Eigen::Vector6d::Zero())) | mc_rbdyn::Robot | |
+ | forwardAcceleration(rbd::MultiBodyConfig &mbc, const sva::MotionVecd &A_0=sva::MotionVecd(Eigen::Vector6d::Zero())) const | mc_rbdyn::Robot | |
+ | forwardKinematics() | mc_rbdyn::Robot | |
+ | forwardKinematics(rbd::MultiBodyConfig &mbc) const | mc_rbdyn::Robot | |
+ | forwardVelocity() | mc_rbdyn::Robot | |
+ | forwardVelocity(rbd::MultiBodyConfig &mbc) const | mc_rbdyn::Robot | |
+ | frame(const std::string &name) const | mc_rbdyn::Robot | inline |
+ | frame(const std::string &name) | mc_rbdyn::Robot | inline |
+ | frames() const | mc_rbdyn::Robot | |
+ | gripper(const std::string &gripper) | mc_rbdyn::Robot | |
+ | gripper(const std::string &gripper) const | mc_rbdyn::Robot | |
+ | grippers() const noexcept | mc_rbdyn::Robot | inline |
+ | grippersByName() const noexcept | mc_rbdyn::Robot | inline |
+ | hasBody(const std::string &name) const | mc_rbdyn::Robot | |
+ | hasBodySensor(const std::string &name) const noexcept | mc_rbdyn::Robot | inline |
+ | hasConvex(const std::string &name) const | mc_rbdyn::Robot | |
+ | hasDevice(const std::string &name) const noexcept | mc_rbdyn::Robot | |
+ | hasForceSensor(const std::string &name) const noexcept | mc_rbdyn::Robot | inline |
+ | hasFrame(const std::string &name) const noexcept | mc_rbdyn::Robot | inline |
+ | hasGripper(const std::string &gripper) const | mc_rbdyn::Robot | |
+ | hasJoint(const std::string &name) const | mc_rbdyn::Robot | |
+ | hasSensor(const std::string &name) const noexcept | mc_rbdyn::Robot | inline |
+ | hasSurface(const std::string &surface) const | mc_rbdyn::Robot | |
+ | indirectBodyForceSensor(const std::string &body) const | mc_rbdyn::Robot | |
+ | indirectSurfaceForceSensor(const std::string &surface) const | mc_rbdyn::Robot | |
+ | jl() const | mc_rbdyn::Robot | |
+ | jl() | mc_rbdyn::Robot | |
+ | jointHasJointSensor(const std::string &joint) const noexcept | mc_rbdyn::Robot | inline |
+ | jointIndexByName(const std::string &name) const | mc_rbdyn::Robot | |
+ | jointIndexInMBC(size_t jointIndex) const | mc_rbdyn::Robot | |
+ | jointJointSensor(const std::string &joint) const | mc_rbdyn::Robot | |
+ | jointSensors() const noexcept | mc_rbdyn::Robot | inline |
+ | jointTorque() const | mc_rbdyn::Robot | |
+ | jointTorque() | mc_rbdyn::Robot | |
+ | jointTorques() const noexcept | mc_rbdyn::Robot | inline |
+ | ju() const | mc_rbdyn::Robot | |
+ | ju() | mc_rbdyn::Robot | |
+ | loadRSDFFromDir(const std::string &surfaceDir) | mc_rbdyn::Robot | |
+ | makeFrame(const std::string &name, RobotFrame &parent, sva::PTransformd X_p_f, bool baked=false) | mc_rbdyn::Robot | |
+ | makeFrames(std::vector< mc_rbdyn::RobotModule::FrameDescription > frames) | mc_rbdyn::Robot | |
+ | makeTemporaryFrame(const std::string &name, const RobotFrame &parent, sva::PTransformd X_p_f, bool baked=false) const | mc_rbdyn::Robot | |
+ | mass() const noexcept | mc_rbdyn::Robot | inline |
+ | mb() | mc_rbdyn::Robot | |
+ | mb() const | mc_rbdyn::Robot | |
+ | mbc() | mc_rbdyn::Robot | |
+ | mbc() const | mc_rbdyn::Robot | |
+ | mbg() | mc_rbdyn::Robot | |
+ | mbg() const | mc_rbdyn::Robot | |
+ | module() const | mc_rbdyn::Robot | |
+ | name() const | mc_rbdyn::Robot | |
+ | netWrench(const std::vector< std::string > &sensorNames) const | mc_rbdyn::Robot | |
+ | operator=(Robot &&) | mc_rbdyn::Robot | |
+ | posW() const | mc_rbdyn::Robot | |
+ | posW(const sva::PTransformd &pt) | mc_rbdyn::Robot | |
+ | q() const | mc_rbdyn::Robot | |
+ | q() | mc_rbdyn::Robot | |
+ | ql() const | mc_rbdyn::Robot | |
+ | ql() | mc_rbdyn::Robot | |
+ | qu() const | mc_rbdyn::Robot | |
+ | qu() | mc_rbdyn::Robot | |
+ | refJointOrder() const | mc_rbdyn::Robot | inline |
+ | removeConvex(const std::string &name) | mc_rbdyn::Robot | |
+ | Robot(Robot &&) | mc_rbdyn::Robot | |
+ | Robot(NewRobotToken, const std::string &name, Robots &robots, unsigned int robots_idx, bool loadFiles, const LoadRobotParameters ¶ms={}) | mc_rbdyn::Robot | |
+ | robotIndex() const | mc_rbdyn::Robot | |
+ | Robots | mc_rbdyn::Robot | friend |
+ | robots() noexcept | mc_rbdyn::Robot | inline |
+ | robots() const noexcept | mc_rbdyn::Robot | inline |
+ | sensor(const std::string &name) const | mc_rbdyn::Robot | inline |
+ | sensor(const std::string &name) | mc_rbdyn::Robot | inline |
+ | stance() const | mc_rbdyn::Robot | |
+ | surface(const std::string &sName) | mc_rbdyn::Robot | |
+ | surface(const std::string &sName) const | mc_rbdyn::Robot | |
+ | surfaceForceSensor(const std::string &surfaceName) const | mc_rbdyn::Robot | |
+ | surfaceHasForceSensor(const std::string &surface) const | mc_rbdyn::Robot | inline |
+ | surfaceHasIndirectForceSensor(const std::string &surface) const | mc_rbdyn::Robot | inline |
+ | surfacePose(const std::string &sName) const | mc_rbdyn::Robot | |
+ | surfaces() const | mc_rbdyn::Robot | |
+ | surfaceWrench(const std::string &surfaceName) const | mc_rbdyn::Robot | |
+ | tdl() const | mc_rbdyn::Robot | |
+ | tdl() | mc_rbdyn::Robot | |
+ | tdu() const | mc_rbdyn::Robot | |
+ | tdu() | mc_rbdyn::Robot | |
+ | tl() const | mc_rbdyn::Robot | |
+ | tl() | mc_rbdyn::Robot | |
+ | tu() const | mc_rbdyn::Robot | |
+ | tu() | mc_rbdyn::Robot | |
+ | tvmConvex(const std::string &name) const | mc_rbdyn::Robot | |
+ | tvmRobot() const | mc_rbdyn::Robot | |
+ | velW(const sva::MotionVecd &vel) | mc_rbdyn::Robot | |
+ | velW() const | mc_rbdyn::Robot | |
+ | vl() const | mc_rbdyn::Robot | |
+ | vl() | mc_rbdyn::Robot | |
+ | vu() const | mc_rbdyn::Robot | |
+ | vu() | mc_rbdyn::Robot | |
+ | X_b1_b2(const std::string &b1, const std::string &b2) const | mc_rbdyn::Robot | |
+ | zmp(const sva::ForceVecd &netTotalWrench, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const | mc_rbdyn::Robot | |
+ | zmp(Eigen::Vector3d &zmpOut, const sva::ForceVecd &netTotalWrench, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const noexcept | mc_rbdyn::Robot | |
+ | zmp(const sva::ForceVecd &netTotalWrench, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const | mc_rbdyn::Robot | |
+ | zmp(Eigen::Vector3d &zmpOut, const sva::ForceVecd &netTotalWrench, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const noexcept | mc_rbdyn::Robot | |
+ | zmp(const std::vector< std::string > &sensorNames, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const | mc_rbdyn::Robot | |
+ | zmp(Eigen::Vector3d &zmpOut, const std::vector< std::string > &sensorNames, const Eigen::Vector3d &plane_p, const Eigen::Vector3d &plane_n, double minimalNetNormalForce=1.) const noexcept | mc_rbdyn::Robot | |
+ | zmp(const std::vector< std::string > &sensorNames, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const | mc_rbdyn::Robot | |
+ | zmp(Eigen::Vector3d &zmpOut, const std::vector< std::string > &sensorNames, const sva::PTransformd &zmpFrame, double minimalNetNormalForce=1.) const noexcept | mc_rbdyn::Robot | |
+ | zmpTarget(const Eigen::Vector3d &zmp) | mc_rbdyn::Robot | |
+ | zmpTarget() const | mc_rbdyn::Robot | |
+ | ~Robot() | mc_rbdyn::Robot | |
| const BodySensor & | bodySensor () const noexcept |
| |
+| void | addBodySensor (const BodySensor &sensor) |
+| |
| bool | hasBodySensor (const std::string &name) const noexcept |
| |
| bool | bodyHasBodySensor (const std::string &body) const noexcept |
@@ -653,6 +655,31 @@ NoteThis function takes care of calling rbd::forwardAcceleration
+
+
+
+◆ addBodySensor()
+
+
+
+
+
+ | void mc_rbdyn::Robot::addBodySensor |
+ ( |
+ const BodySensor & |
+ sensor | ) |
+ |
+
+
+