| ACTUATOR_STATE_DIM | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| actuator_state_vector_t typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| ActuatorDynamics_t typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| Base typedef | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | |
| BASE typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| basePose_ | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | protected |
| clone() const override | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinevirtual |
| computeActuatorDynamics(const FixBaseRobotState_t &robotState, const SCALAR &t, const control_vector_t &controlIn, state_vector_t &stateDerivative, control_vector_t &controlOut) | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| computeActuatorDynamics(const FixBaseRobotState_t &robotState, const SCALAR &t, const control_vector_t &controlIn, state_vector_t &stateDerivative, control_vector_t &controlOut) | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| computeConsistentActuatorState(const JointState< BASE::NJOINTS, SCALAR > &jStateRef, const ct::core::ControlVector< BASE::NJOINTS > &torqueRef) | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| computeConsistentActuatorState(const JointState< BASE::NJOINTS, SCALAR > &jStateRef) | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| computeControlledDynamics(const state_vector_t &state, const SCALAR &t, const control_vector_t &controlIn, state_vector_t &derivative) override | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 >::computeControlledDynamics(const ct::core::StateVector< STATE_D, SCALAR > &state, const SCALAR &t, const ct::core::ControlVector< CONTROL_D, SCALAR > &controlIn, ct::core::StateVector< STATE_D, SCALAR > &derivative) override=0 | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | pure virtual |
| ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR >::computeControlledDynamics(const StateVector< STATE_D, RBDDynamics::SCALAR > &state, const time_t &t, const ControlVector< CONTROL_D, RBDDynamics::SCALAR > &control, StateVector< STATE_D, RBDDynamics::SCALAR > &derivative)=0 | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | pure virtual |
| computeDynamics(const StateVector< STATE_D, RBDDynamics::SCALAR > &state, const time_t &t, StateVector< STATE_D, RBDDynamics::SCALAR > &derivative) override | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | virtual |
| ct::core::System::computeDynamics(const StateVector< STATE_DIM, SCALAR > &state, const time_t &t, StateVector< STATE_DIM, SCALAR > &derivative)=0 | ct::core::System< STATE_DIM, SCALAR > | pure virtual |
| computeIDTorques(const JointState< NJOINTS, SCALAR > &jState, const JointAcceleration_t &jAcc=JointAcceleration_t(Eigen::Matrix< SCALAR, NJOINTS, 1 >::Zero())) | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | inline |
| CONTROL_DIM | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| control_vector_t typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| controlAction_ | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | protected |
| ControlledSystem(const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL) | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| ControlledSystem(std::shared_ptr< ct::core::Controller< STATE_D, CONTROL_D, RBDDynamics::SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL) | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| ControlledSystem(const ControlledSystem &arg) | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| controller_ | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | protected |
| Dynamics typedef | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | |
| dynamics() override | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | inlinevirtual |
| dynamics() const override | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | inlinevirtual |
| dynamics_ | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | protected |
| FixBaseFDSystem(const RigidBodyPose_t &basePose=RigidBodyPose_t()) | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| FixBaseFDSystem(std::shared_ptr< ActuatorDynamics_t > actuatorDynamics, const RigidBodyPose_t &basePose=RigidBodyPose_t()) | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| FixBaseFDSystem(const FixBaseFDSystem &arg) | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| FixBaseRobotState_t typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| FixBaseSystemBase(const RigidBodyPose_t &basePose=RigidBodyPose_t()) | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | inline |
| FixBaseSystemBase(const FixBaseSystemBase &arg) | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | inline |
| getActuatorDynamics() | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| getController(std::shared_ptr< Controller< STATE_D, CONTROL_D, RBDDynamics::SCALAR >> &controller) const | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| getController() | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| getLastControlAction() | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| getType() const | ct::core::System< STATE_DIM, SCALAR > | |
| isSymplectic() const | ct::core::System< STATE_DIM, SCALAR > | virtual |
| JointAcceleration_t typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| N_EE | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| NJOINTS | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | static |
| Ptr typedef | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| RBDSystem()=default | ct::rbd::RBDSystem< RBDDynamics, false > | |
| RigidBodyPose_t typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| S | ct::core::System< STATE_DIM, SCALAR > | |
| SCALAR typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| setController(const std::shared_ptr< Controller< STATE_D, CONTROL_D, RBDDynamics::SCALAR >> &controller) | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| STATE_DIM | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| state_vector_t typedef | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| System(const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL) | ct::core::System< STATE_DIM, SCALAR > | |
| System(const System &other) | ct::core::System< STATE_DIM, SCALAR > | |
| time_t typedef | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | |
| type_ | ct::core::System< STATE_DIM, SCALAR > | protected |
| ~ControlledSystem() | ct::core::ControlledSystem< STATE_D, CONTROL_D, RBDDynamics::SCALAR > | virtual |
| ~FixBaseFDSystem()=default | ct::rbd::FixBaseFDSystem< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | virtual |
| ~FixBaseSystemBase()=default | ct::rbd::FixBaseSystemBase< RBDDynamics, RBDDynamics::NSTATE+ACT_STATE_DIM, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3 > | virtual |
| ~RBDSystem()=default | ct::rbd::RBDSystem< RBDDynamics, false > | virtual |
| ~System() | ct::core::System< STATE_DIM, SCALAR > | virtual |
1.8.13