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Namespaces | |
| RobotDynamics | |
| Namespace for all structures of the RobotDynamics library. | |
| RobotDynamics::Math | |
| Math types such as vectors and matrices and utility functions. | |
Enumerations | |
| enum | RobotDynamics::Math::LinearSolver { RobotDynamics::Math::LinearSolverUnknown = 0 , RobotDynamics::Math::LinearSolverPartialPivLU , RobotDynamics::Math::LinearSolverColPivHouseholderQR , RobotDynamics::Math::LinearSolverHouseholderQR , RobotDynamics::Math::LinearSolverLLT , RobotDynamics::Math::LinearSolverLast } |
| Available solver methods for the linear systems. More... | |
Functions | |
| VectorNd | RobotDynamics::Math::vectorFromPtr (unsigned int n, double *ptr) |
| MatrixNd | RobotDynamics::Math::matrixFromPtr (unsigned int rows, unsigned int cols, double *ptr, bool row_major=true) |
| bool | RobotDynamics::Math::linSolveGaussElimPivot (MatrixNd A, VectorNd b, VectorNd &x) |
| Solves a linear system using gaussian elimination with pivoting. More... | |
| Matrix3d | RobotDynamics::Math::parallel_axis (const Matrix3d &inertia, double mass, const Vector3d &com) |
| Translates the inertia matrix to a new center. More... | |
| Vector3d | RobotDynamics::Math::angular_velocity_from_zyx_angle_rates (const Vector3d &zyx_angles, const Vector3d &zyx_angle_rates) |
| convert zyx euler angles and angle rates to angular velocity More... | |
| Vector3d | RobotDynamics::Math::angular_velocity_from_xyz_angle_rates (const Vector3d &xyz_angles, const Vector3d &xyz_angle_rates) |
| convert xyz euler angles and angle rates to angular velocity More... | |
| Matrix3d | RobotDynamics::Math::angular_velocity_to_zyx_angle_rates_jacobian (const Vector3d &zyx_angles, double singularity_threshold=1.e-10) |
| compute the 3x3 jacobian matrix that when multiplied by the angular velocity, ordered (wx, wy, wz) returns the angular velocity vector, note that the ordering of the returned angle rates is (yaw_dot, pitch_Dot, roll_dot) More... | |
| Matrix3d | RobotDynamics::Math::angular_velocity_to_xyz_angle_rates_jacobian (const Vector3d &xyz_angles, double singularity_threshold=1.e-10) |
| compute the 3x3 jacobian matrix that when multiplied by the angular velocity, ordered (wx, wy, wz) returns the angular velocity vector, note that the ordering of the returned angle rates is (roll_dot, pitch_dot, yaw_dot) More... | |
| Vector3d | RobotDynamics::Math::angular_velocity_to_zyx_angle_rates (const Vector3d &zyx_angles, const Vector3d &angular_velocity, double singularity_threshold=1.e-10) |
| convert angular velocity to zyx angle rates More... | |
| Vector3d | RobotDynamics::Math::angular_velocity_to_xyz_angle_rates (const Vector3d &xyz_angles, const Vector3d &angular_velocity, double singularity_threshold=1.e-10) |
| convert angular velocity to xyz angle rates More... | |
| Vector3d | RobotDynamics::Math::global_angular_velocity_from_rates (const Vector3d &zyx_angles, const Vector3d &zyx_rates) |
| Vector3d | RobotDynamics::Math::angular_acceleration_from_zyx_angle_rates (const Vector3d &zyx_angles, const Vector3d &zyx_angle_rates, const Vector3d &zyx_angle_rates_dot) |
| calculate angular acceleration from zyx angles, angle rates, and angle accelerations More... | |
| Vector3d | RobotDynamics::Math::angular_acceleration_from_xyz_angle_rates (const Vector3d &xyz_angles, const Vector3d &xyz_angle_rates, const Vector3d &xyz_angle_rates_dot) |
| calculate angular acceleration from zyx angles, angle rates, and angle accelerations More... | |
| void | RobotDynamics::Math::SparseFactorizeLTL (Model &model, Math::MatrixNd &H) |
| void | RobotDynamics::Math::SparseMultiplyHx (Model &model, Math::MatrixNd &L) |
| void | RobotDynamics::Math::SparseMultiplyLx (Model &model, Math::MatrixNd &L) |
| void | RobotDynamics::Math::SparseMultiplyLTx (Model &model, Math::MatrixNd &L) |
| void | RobotDynamics::Math::SparseSolveLx (Model &model, Math::MatrixNd &L, Math::VectorNd &x) |
| void | RobotDynamics::Math::SparseSolveLTx (Model &model, Math::MatrixNd &L, Math::VectorNd &x) |
