Robot Dynamics Library: Hydro Utilities

Functions
void	RobotDynamics::HydroUtils::calcCenterOfBuoyancy (Model &model, const Math::VectorNd &q, Math::FramePoint &com, bool update_kinematics=true)
	Computes the Center of Buoyancy (COB) position. More...

void	RobotDynamics::HydroUtils::calcCenterOfMassAndCenterOfBuoyancy (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::Vector3d &com, Math::Vector3d &cob, Math::Vector3d &com_velocity, bool update_kinematics)

Math::SpatialForce	RobotDynamics::HydroUtils::calcBuoyancyWrenchOnCenterOfMass (Model &model, const Math::VectorNd &q, bool update_kinematics=true)
	Computes the wrench due to buoyancy experienced at the robots center of mass. More...

Math::SpatialForce	RobotDynamics::HydroUtils::calcDragWrenchOnCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, bool update_kinematics=true)
	Computes the wrench due to drag experienced at the robots center of mass. More...

double	RobotDynamics::HydroUtils::calcSubtreeVolume (Model &model, const unsigned int bodyId)
	Calculates the total volume of the model. More...

double	RobotDynamics::HydroUtils::calcSubtreeWeightInFluid (Model &model, const unsigned int bodyId)
	Calculate the weight of a kinematic subtree in fluid with density RobotDynamics::Model::fluid_density. More...

string	RobotDynamics::Utils::getDofName (const Math::SpatialVector &joint_dof)
	get string abbreviation for dof name from spatial vector. More...

string	RobotDynamics::Utils::getBodyName (const RobotDynamics::Model &model, unsigned int body_id)
	get body name, returns empty string if bodyid is virtual and has multiple child bodies More...

std::string	RobotDynamics::Utils::getModelHierarchy (const Model &model)
	Creates a human readable overview of the model. More...

std::string	RobotDynamics::Utils::getModelDOFOverview (const Model &model)
	Creates a human readable overview of the Degrees of Freedom. More...

std::string	RobotDynamics::Utils::getNamedBodyOriginsOverview (Model &model)
	Creates a human readable overview of the locations of all bodies that have names. More...

void	RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, Math::Vector3d &com, bool update_kinematics=true)
	Computes the Center of Mass (COM) position. More...

void	RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, Math::FramePoint &com, bool update_kinematics=true)
	Computes the Center of Mass (COM) position. More...

void	RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::Vector3d &com, Math::Vector3d com_velocity=NULL, Math::Vector3d angular_momentum=NULL, bool update_kinematics=true)
	Computes the Center of Mass (COM) and optionally its linear velocity. More...

void	RobotDynamics::Utils::calcCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::Vector3d &com, Math::Vector3d &com_velocity, bool update_kinematics=true)
	Computes the Center of Mass (COM) and its linear velocity. More...

void	RobotDynamics::Utils::calcCenterOfMassVelocity (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::Vector3d &com_vel, bool update_kinematics=true)
	Computes the Center of Mass (COM) velocity in world frame. More...

void	RobotDynamics::Utils::calcCenterOfMassVelocity (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::FrameVector &com_vel, bool update_kinematics=true)
	Computes the Center of Mass (COM) velocity in world frame. More...

void	RobotDynamics::Utils::calcCenterOfMassVelocity (Model &model, Math::Vector3d &com_vel)
	Computes the Center of Mass (COM) velocity in world frame. More...

void	RobotDynamics::Utils::calcCenterOfMassVelocity (Model &model, Math::FrameVector &com_vel)
	Computes the Center of Mass (COM) velocity in world frame. More...

double	RobotDynamics::Utils::calcPotentialEnergy (Model &model, const Math::VectorNd &q, bool update_kinematics=true)
	Computes the potential energy of the full model. More...

double	RobotDynamics::Utils::calcKineticEnergy (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, bool update_kinematics=true)
	Computes the kinetic energy of the full model. More...

Math::SpatialForce	RobotDynamics::Utils::calcGravityWrenchOnCenterOfMass (Model &model, const Math::VectorNd &q, bool update_kinematics=true)
	Computes the gravitational wrench experienced on the robots center of mass. More...

void	RobotDynamics::Utils::calcCenterOfMassJacobian (Model &model, const Math::VectorNd &q, Math::MatrixNd &jCom, bool update_kinematics=true)
	Computes the matrix $J_{com}$ such that $v_{com} = J_{com} \dot{q}$ . More...

Math::Vector3d	RobotDynamics::Utils::calcSubtreeCenterOfMassScaledByMass (Model &model, const unsigned int bodyId, const Math::VectorNd &q, bool updateKinematics=true)
	Calculates the center of mass of a subtree starting with the body with ID bodyId and scales it by the total mass of the subtree. More...

double	RobotDynamics::Utils::calcSubtreeMass (Model &model, const unsigned int bodyId)
	Calculates the total mass of the subtree beginning with body bodyId and traversing outwards from there. More...

void	RobotDynamics::Utils::calcCentroidalMomentumMatrix (Model &model, const Math::VectorNd &q, Math::MatrixNd &A, bool update_kinematics=true)
	Calculates the centroidal momentum matrix, for a model. The centroidal momentum matrix is a $6 \times N$ matrix such that the 6dof centroidal momentum vector is computed by,. More...

void	RobotDynamics::Utils::calcCentroidalMomentumMatrix (Model &model, const Math::VectorNd &q, Math::MatrixNd &A, Math::Vector3d com, bool update_kinematics=true)
	Calculates the centroidal momentum matrix, for a model. The centroidal momentum matrix is a $6 \times N$ matrix such that the 6dof centroidal momentum vector is computed by,. More...

void	RobotDynamics::Utils::calcCentroidalMomentumMatrixDot (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::MatrixNd &Adot, Math::Vector3d com, Math::Vector3d com_velocity, bool update_kinematics=true)
	Calculates the time derivative of the centroidal momentum matrix, i.e. the matrix computed by RobotDynamics::Utils::calcCentroidalMomentumMatrix and stores it in the Adot argument. More...

void	RobotDynamics::Utils::calcCentroidalMomentumMatrixDot (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::MatrixNd &Adot, bool update_kinematics=true)
	Calculates the time derivative of the centroidal momentum matrix, i.e. the matrix computed by RobotDynamics::Utils::calcCentroidalMomentumMatrix and stores it in the Adot argument. More...

void	RobotDynamics::Utils::calcCentroidalMomentumMatrixAndMatrixDot (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::MatrixNd &A, Math::MatrixNd &Adot, Math::Vector3d com, Math::Vector3d com_velocity, bool update_kinematics=true)
	Calculates the centroidal momentum matrix and its time derivative, but in a more efficient way than calling the functions to compute them separately. If you need both matrices it will be more efficient to use this function. More...

void	RobotDynamics::Utils::calcCentroidalMomentumMatrixAndMatrixDot (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, Math::MatrixNd &A, Math::MatrixNd &Adot, bool update_kinematics=true)
	Calculates the centroidal momentum matrix and its time derivative, but in a more efficient way than calling the functions to compute them separately. If you need both matrices it will be more efficient to use this function. More...

Detailed Description

Utility functions are those not necessarily required for kinematics/dynamics, but provide utility by giving model information, calculating useful quantities such as the position/velocity of the center of mass, etc.

Function Documentation

◆ calcBuoyancyWrenchOnCenterOfMass()

Math::SpatialForce RobotDynamics::HydroUtils::calcBuoyancyWrenchOnCenterOfMass	(	Model &	model,
		const Math::VectorNd &	q,
		bool	update_kinematics = `true`
	)

Computes the wrench due to buoyancy experienced at the robots center of mass.

Parameters

model
q
update_kinematics	(optional) Defaults to true

Note: The reference frame the resulting force is expressed in is the center of mass reference frame owned by the RobotDynamics::Model object. This means that you must first have the position/orientation of that reference frame updated prior to calling this function otherwise the frame it's expressed in is likely to not be what you want.

◆ calcCenterOfBuoyancy()

void RobotDynamics::HydroUtils::calcCenterOfBuoyancy	(	Model &	model,
		const Math::VectorNd &	q,
		Math::FramePoint &	com,
		bool	update_kinematics = `true`
	)

Computes the Center of Buoyancy (COB) position.

Parameters

model	The model for which we want to compute the COM
q	The current joint positions
cob	(output) location of the Center of Buoyancy of the model in world frame
update_kinematics	(optional input) whether the kinematics should be updated (defaults to true)

◆ calcCenterOfMass() [1/4]

void RobotDynamics::Utils::calcCenterOfMass	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::Vector3d &	com,
		Math::Vector3d &	com_velocity,
		bool	update_kinematics = `true`
	)

Computes the Center of Mass (COM) and its linear velocity.

Parameters

model	The model for which we want to compute the COM
q	The current joint positions
qdot	The current joint velocities
com	(output) location of the Center of Mass of the model in world frame
com_velocity	linear velocity of the COM in world frame
update_kinematics	(optional input) whether the kinematics should be updated (defaults to true)

◆ calcCenterOfMass() [2/4]

void RobotDynamics::Utils::calcCenterOfMass	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::Vector3d &	com,
		Math::Vector3d *	com_velocity = `NULL`,
		Math::Vector3d *	angular_momentum = `NULL`,
		bool	update_kinematics = `true`
	)

Computes the Center of Mass (COM) and optionally its linear velocity.

When only interested in computing the location of the COM you can use nullptr as value for com_velocity.

Parameters

model	The model for which we want to compute the COM
q	The current joint positions
qdot	The current joint velocities
com	(output) location of the Center of Mass of the model in world frame
com_velocity	(optional output) linear velocity of the COM in world frame
angular_momentum	(optional output) angular momentum of the model at the COM in world frame
update_kinematics	(optional input) whether the kinematics should be updated (defaults to true)

◆ calcCenterOfMass() [3/4]

void RobotDynamics::Utils::calcCenterOfMass	(	Model &	model,
		const Math::VectorNd &	q,
		Math::FramePoint &	com,
		bool	update_kinematics = `true`
	)

Computes the Center of Mass (COM) position.

Parameters

model	The model for which we want to compute the COM
q	The current joint positions
com	(output) location of the Center of Mass of the model in world frame
update_kinematics	(optional input) whether the kinematics should be updated (defaults to true)

◆ calcCenterOfMass() [4/4]

void RobotDynamics::Utils::calcCenterOfMass	(	Model &	model,
		const Math::VectorNd &	q,
		Math::Vector3d &	com,
		bool	update_kinematics = `true`
	)

Computes the Center of Mass (COM) position.

Parameters

model	The model for which we want to compute the COM
q	The current joint positions
com	(output) location of the Center of Mass of the model in world frame
update_kinematics	(optional input) whether the kinematics should be updated (defaults to true)

Note: Updates the transforms of Model::comFrame

◆ calcCenterOfMassAndCenterOfBuoyancy()

void RobotDynamics::HydroUtils::calcCenterOfMassAndCenterOfBuoyancy	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::Vector3d &	com,
		Math::Vector3d &	cob,
		Math::Vector3d &	com_velocity,
		bool	update_kinematics
	)

◆ calcCenterOfMassJacobian()

void RobotDynamics::Utils::calcCenterOfMassJacobian	(	Model &	model,
		const Math::VectorNd &	q,
		Math::MatrixNd &	jCom,
		bool	update_kinematics = `true`
	)

Computes the matrix $J_{com}$ such that $v_{com} = J_{com} \dot{q}$ .

Parameters

model	The model for which the COM jacobian will be computed for
q	The current joint positions
jCom	A 3 x model.qdot_size matrix where the jacobian will be stored.
update_kinematics	If true, kinematic variables will be computed. Default = true.

◆ calcCenterOfMassVelocity() [1/4]

void RobotDynamics::Utils::calcCenterOfMassVelocity	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::FrameVector &	com_vel,
		bool	update_kinematics = `true`
	)

Computes the Center of Mass (COM) velocity in world frame.

Parameters

model	The model for which we want to compute the COM velocity
q	The current joint positions
qdot	The current joint velocities
com_vel	(modified) Frame vector where the result vector and frame will be stored
update_kinematics	(optional input) whether the kinematics should be updated (defaults to true)

◆ calcCenterOfMassVelocity() [2/4]

void RobotDynamics::Utils::calcCenterOfMassVelocity	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::Vector3d &	com_vel,
		bool	update_kinematics = `true`
	)

Computes the Center of Mass (COM) velocity in world frame.

Parameters

model	The model for which we want to compute the COM velocity
q	The current joint positions
qdot	The current joint velocities
com_vel	(modified) translational velocity of the Center of Mass of the model in world frame
update_kinematics	(optional input) whether the kinematics should be updated (defaults to true)

◆ calcCenterOfMassVelocity() [3/4]

void RobotDynamics::Utils::calcCenterOfMassVelocity	(	Model &	model,
		Math::FrameVector &	com_vel
	)

Computes the Center of Mass (COM) velocity in world frame.

Parameters

model	The model for which we want to compute the COM velocity
com_vel	(modified) Frame vector where the result vector and frame will be stored

◆ calcCenterOfMassVelocity() [4/4]

void RobotDynamics::Utils::calcCenterOfMassVelocity	(	Model &	model,
		Math::Vector3d &	com_vel
	)

Computes the Center of Mass (COM) velocity in world frame.

Parameters

model	The model for which we want to compute the COM velocity
com_vel	(modified) Vector3d where the result vector and frame will be stored

◆ calcCentroidalMomentumMatrix() [1/2]

void RobotDynamics::Utils::calcCentroidalMomentumMatrix	(	Model &	model,
		const Math::VectorNd &	q,
		Math::MatrixNd &	A,
		bool	update_kinematics = `true`
	)

Calculates the centroidal momentum matrix, $ A(q) $ for a model. The centroidal momentum matrix is a $6 \times N$ matrix such that the 6dof centroidal momentum vector is computed by,.

$h = A(q) \dot{q}$

Note: It is crucial that the matrix be all zeros when this function is called, as the elements will be added to. To be sure, call A.setZero() before calling this function.

Parameters

model	RDL model
q	Vector of joint positions
A	6 by N matrix where the result will be stored
update_kinematics	If true, calculates kinematic parameters

Note: this function will compute the center of mass. If you already have this quantity it will be more efficient to use the function that takes this as an argument so it doesn't recompute them

◆ calcCentroidalMomentumMatrix() [2/2]

void RobotDynamics::Utils::calcCentroidalMomentumMatrix	(	Model &	model,
		const Math::VectorNd &	q,
		Math::MatrixNd &	A,
		Math::Vector3d	com,
		bool	update_kinematics = `true`
	)

Calculates the centroidal momentum matrix, $ A(q) $ for a model. The centroidal momentum matrix is a $6 \times N$ matrix such that the 6dof centroidal momentum vector is computed by,.

$h = A(q) \dot{q}$

Note: It is crucial that the matrix be all zeros when this function is called, as the elements will be added to. To be sure, call A.setZero() before calling this function.

Parameters

model	RDL model
q	Vector of joint positions
A	6 by N matrix where the result will be stored
com	Position of the center of mass in world coordinates
update_kinematics	If true, calculates kinematic parameters

◆ calcCentroidalMomentumMatrixAndMatrixDot() [1/2]

void RobotDynamics::Utils::calcCentroidalMomentumMatrixAndMatrixDot	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::MatrixNd &	A,
		Math::MatrixNd &	Adot,
		bool	update_kinematics = `true`
	)

Calculates the centroidal momentum matrix and its time derivative, but in a more efficient way than calling the functions to compute them separately. If you need both matrices it will be more efficient to use this function.

Parameters

model	rdl model
q	vector of position
qdot	vector of velocities
A	storage for centroidal momentum matrix
Adot	storage for centroidal momentum matrix dot
update_kinematics	if true, kinematic variables will be computed. Defaults to true

Note: this function will compute the center of mass and its velocity. If you already have these quantities it will be more efficient to use the function that takes these as arguments so it doesn't recompute them

◆ calcCentroidalMomentumMatrixAndMatrixDot() [2/2]

void RobotDynamics::Utils::calcCentroidalMomentumMatrixAndMatrixDot	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::MatrixNd &	A,
		Math::MatrixNd &	Adot,
		Math::Vector3d	com,
		Math::Vector3d	com_velocity,
		bool	update_kinematics = `true`
	)

Parameters

model	rdl model
q	vector of position
qdot	vector of velocities
A	storage for centroidal momentum matrix
Adot	storage for centroidal momentum matrix dot
com	position of the center of mass in world coordinates
com_velocity	velocity of the center of mass in world coordinates
update_kinematics	if true, kinematic variables will be computed. Defaults to true

◆ calcCentroidalMomentumMatrixDot() [1/2]

void RobotDynamics::Utils::calcCentroidalMomentumMatrixDot	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::MatrixNd &	Adot,
		bool	update_kinematics = `true`
	)

Calculates the time derivative of the centroidal momentum matrix, i.e. the matrix computed by RobotDynamics::Utils::calcCentroidalMomentumMatrix and stores it in the Adot argument.

Parameters

model
q
qdot
Adot
update_kinematics

Note: this function will compute the center of mass and its velocity. If you already have these quantities it will be more efficient to use the function that takes these as arguments so it doesn't recompute them

◆ calcCentroidalMomentumMatrixDot() [2/2]

void RobotDynamics::Utils::calcCentroidalMomentumMatrixDot	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		Math::MatrixNd &	Adot,
		Math::Vector3d	com,
		Math::Vector3d	com_velocity,
		bool	update_kinematics = `true`
	)

Calculates the time derivative of the centroidal momentum matrix, i.e. the matrix computed by RobotDynamics::Utils::calcCentroidalMomentumMatrix and stores it in the Adot argument.

Parameters

model	rdl model
q	vector of position
qdot	vector of velocities
Adot	storage for centroidal momentum matrix dot
com	position of the center of mass in world coordinates
com_velocity	velocity of the center of mass in world coordinates
update_kinematics

◆ calcDragWrenchOnCenterOfMass()

Math::SpatialForce RobotDynamics::HydroUtils::calcDragWrenchOnCenterOfMass	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		bool	update_kinematics = `true`
	)

Computes the wrench due to drag experienced at the robots center of mass.

Parameters

model
q
qdot
update_kinematics	(optional) Defaults to true

Note: The reference frame the resulting force is expressed in is the center of mass reference frame owned by the RobotDynamics::Model object. This means that you must first have the position/orientation of that reference frame updated prior to calling this function otherwise the frame it's expressed in is likely to not be what you want.

◆ calcGravityWrenchOnCenterOfMass()

Math::SpatialForce RobotDynamics::Utils::calcGravityWrenchOnCenterOfMass	(	Model &	model,
		const Math::VectorNd &	q,
		bool	update_kinematics = `true`
	)

Computes the gravitational wrench experienced on the robots center of mass.

Parameters

model
q
update_kinematics	(optional) Defaults to true

Note: The reference frame the resulting force is expressed in is the center of mass reference frame owned by the RobotDynamics::Model object. This means that you must first have the position/orientation of that reference frame updated prior to calling this function otherwise the frame it's expressed in is likely to not be what you want.

◆ calcKineticEnergy()

double RobotDynamics::Utils::calcKineticEnergy	(	Model &	model,
		const Math::VectorNd &	q,
		const Math::VectorNd &	qdot,
		bool	update_kinematics = `true`
	)

Computes the kinetic energy of the full model.

Parameters

model
q
qdot
update_kinematics	(optional) Defaults to true

Returns: Kinetic energy

◆ calcPotentialEnergy()

double RobotDynamics::Utils::calcPotentialEnergy	(	Model &	model,
		const Math::VectorNd &	q,
		bool	update_kinematics = `true`
	)

Computes the potential energy of the full model.

Parameters

model
q
update_kinematics	(optional) Defaults to true

Returns: Potential energy

◆ calcSubtreeCenterOfMassScaledByMass()

Math::Vector3d RobotDynamics::Utils::calcSubtreeCenterOfMassScaledByMass	(	Model &	model,
		const unsigned int	bodyId,
		const Math::VectorNd &	q,
		bool	updateKinematics = `true`
	)

Calculates the center of mass of a subtree starting with the body with ID bodyId and scales it by the total mass of the subtree.

Parameters

model	The model used for the calculation
bodyId	The ID of the first body in the desired subtree
q	The current joint positions
updateKinematics	If true, kinematic variables will be computed. Default = true

◆ calcSubtreeMass()

double RobotDynamics::Utils::calcSubtreeMass	(	Model &	model,
		const unsigned int	bodyId
	)

Calculates the total mass of the subtree beginning with body bodyId and traversing outwards from there.

Parameters

model	The model used for the calculation
bodyId	The ID of the first body in the desired subtree

Returns: Mass of subtree

◆ calcSubtreeVolume()

double RobotDynamics::HydroUtils::calcSubtreeVolume	(	Model &	model,
		const unsigned int	bodyId
	)

Calculates the total volume of the model.

Parameters

model	The model used for the calculation
bodyId	The ID of the first body in the desired subtree

Returns: volume of subtree

◆ calcSubtreeWeightInFluid()

double RobotDynamics::HydroUtils::calcSubtreeWeightInFluid	(	Model &	model,
		const unsigned int	bodyId
	)

Calculate the weight of a kinematic subtree in fluid with density RobotDynamics::Model::fluid_density.

Parameters

model	RDL Model
bodyId	The ID of the first body in the desired subtree

Returns: Weight in fluid

◆ getBodyName()

std::string RobotDynamics::Utils::getBodyName	(	const RobotDynamics::Model &	model,
		unsigned int	body_id
	)

get body name, returns empty string if bodyid is virtual and has multiple child bodies

◆ getDofName()

std::string RobotDynamics::Utils::getDofName ( const SpatialVector & joint_dof )

get string abbreviation for dof name from spatial vector.

◆ getModelDOFOverview()

std::string RobotDynamics::Utils::getModelDOFOverview ( const Model & model )

Creates a human readable overview of the Degrees of Freedom.

◆ getModelHierarchy()

std::string RobotDynamics::Utils::getModelHierarchy ( const Model & model )

Creates a human readable overview of the model.

◆ getNamedBodyOriginsOverview()

std::string RobotDynamics::Utils::getNamedBodyOriginsOverview ( Model & model )

Creates a human readable overview of the locations of all bodies that have names.

Functions

Detailed Description

Function Documentation

◆ calcBuoyancyWrenchOnCenterOfMass()

◆ calcCenterOfBuoyancy()

◆ calcCenterOfMass() [1/4]

◆ calcCenterOfMass() [2/4]

◆ calcCenterOfMass() [3/4]

◆ calcCenterOfMass() [4/4]

◆ calcCenterOfMassAndCenterOfBuoyancy()

◆ calcCenterOfMassJacobian()

◆ calcCenterOfMassVelocity() [1/4]

◆ calcCenterOfMassVelocity() [2/4]

◆ calcCenterOfMassVelocity() [3/4]

◆ calcCenterOfMassVelocity() [4/4]

◆ calcCentroidalMomentumMatrix() [1/2]

◆ calcCentroidalMomentumMatrix() [2/2]

◆ calcCentroidalMomentumMatrixAndMatrixDot() [1/2]

◆ calcCentroidalMomentumMatrixAndMatrixDot() [2/2]

◆ calcCentroidalMomentumMatrixDot() [1/2]

◆ calcCentroidalMomentumMatrixDot() [2/2]

◆ calcDragWrenchOnCenterOfMass()

◆ calcGravityWrenchOnCenterOfMass()

◆ calcKineticEnergy()

◆ calcPotentialEnergy()

◆ calcSubtreeCenterOfMassScaledByMass()

◆ calcSubtreeMass()

◆ calcSubtreeVolume()

◆ calcSubtreeWeightInFluid()

◆ getBodyName()

◆ getDofName()

◆ getModelDOFOverview()

◆ getModelHierarchy()

◆ getNamedBodyOriginsOverview()