| ACTUATOR_STATE_DIM | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| ActuatorDynamics_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| actuatorStateFromVector(const state_vector_full_t &state) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinestatic |
| Base typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| clone() const override | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinevirtual |
| computeActuatorPdot(const typename RBDDynamics::JointState_t &jState, const state_vector_full_t &x, const v_vector_full_t &v, const control_vector_full_t &controlIn, p_vector_full_t &pDot) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| computeActuatorPdot(const typename RBDDynamics::JointState_t &jState, const state_vector_full_t &x, const v_vector_full_t &v, const control_vector_full_t &controlIn, p_vector_full_t &pDot) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| computeActuatorVdot(const typename RBDDynamics::JointState_t &jState, const state_vector_full_t &x, const p_vector_full_t &p, const control_vector_full_t &controlIn, v_vector_full_t &vDot, control_vector_full_t &controlOut) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| computeActuatorVdot(const typename RBDDynamics::JointState_t &jState, const state_vector_full_t &x, const p_vector_full_t &p, const control_vector_full_t &controlIn, v_vector_full_t &vDot, control_vector_full_t &controlOut) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| computeControlledDynamics(const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &state, const time_t &t, const ControlVector< RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > &control, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &derivative) override | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | virtual |
| computeDynamics(const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &state, const time_t &t, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &derivative) override | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, 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 |
| computePdot(const state_vector_full_t &x, const v_vector_full_t &v, const control_vector_full_t &controlIn, p_vector_full_t &pDot) override | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinevirtual |
| SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >::computePdot(const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &x, const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &v, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &pDot) | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >::computePdot(const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &x, const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &v, const ControlVector< RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > &control, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &pDot)=0 | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | pure virtual |
| computeVdot(const state_vector_full_t &x, const p_vector_full_t &p, const control_vector_full_t &controlIn, v_vector_full_t &vDot) override | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinevirtual |
| SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >::computeVdot(const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &x, const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &p, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &vDot) | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >::computeVdot(const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &x, const StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &p, const ControlVector< RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > &control, StateVector< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::SCALAR > &vDot)=0 | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | pure virtual |
| CONTROL_DIM | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| control_vector_full_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| controlAction_ | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | protected |
| ControlledSystem(const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL) | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| ControlledSystem(std::shared_ptr< ct::core::Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL) | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| ControlledSystem(const ControlledSystem &arg) | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| controller_ | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | protected |
| dynamics() override | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinevirtual |
| dynamics() const override | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinevirtual |
| Dynamics typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| FixBaseFDSystemSymplectic() | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| FixBaseFDSystemSymplectic(std::shared_ptr< ActuatorDynamics_t > actuatorDynamics) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| FixBaseFDSystemSymplectic(const FixBaseFDSystemSymplectic &arg) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inline |
| getController(std::shared_ptr< Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >> &controller) const | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| getController() | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| getLastControlAction() | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| getType() const | ct::core::System< STATE_DIM, SCALAR > | |
| isSymplectic() const override | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | virtual |
| jointStateFromVector(const state_vector_full_t &x_full) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinestatic |
| N_EE | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| NJOINTS | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| p_vector_act_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| p_vector_full_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| p_vector_rbd_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| Ptr typedef | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| RBDStateFromVector(const state_vector_full_t &x_full, const tpl::RigidBodyPose< SCALAR > &basePose=tpl::RigidBodyPose< SCALAR >()) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinestatic |
| rbdStateFromVector(const state_vector_full_t &x_full) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinestatic |
| RBDSystem()=default | ct::rbd::RBDSystem< RBDDynamics, false > | |
| S | ct::core::System< STATE_DIM, SCALAR > | |
| SCALAR typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| setController(const std::shared_ptr< Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >> &controller) | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| STATE_DIM | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | static |
| state_vector_act_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| state_vector_full_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| state_vector_rbd_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| SymplecticSystem(const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL) | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| SymplecticSystem(std::shared_ptr< ct::core::Controller< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR >> controller, const SYSTEM_TYPE &type=SYSTEM_TYPE::GENERAL) | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| SymplecticSystem(const SymplecticSystem &arg) | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| 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::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | |
| toFullState(const state_vector_rbd_t &x_rbd, const state_vector_act_t &x_act=state_vector_act_t::Zero()) | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinestatic |
| type_ | ct::core::System< STATE_DIM, SCALAR > | protected |
| v_vector_act_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| v_vector_full_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| v_vector_rbd_t typedef | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | |
| ~ControlledSystem() | ct::core::ControlledSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2+RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | virtual |
| ~FixBaseFDSystemSymplectic() | ct::rbd::FixBaseFDSystemSymplectic< RBDDynamics, ACT_STATE_DIM, EE_ARE_CONTROL_INPUTS > | inlinevirtual |
| ~RBDSystem()=default | ct::rbd::RBDSystem< RBDDynamics, false > | virtual |
| ~SymplecticSystem() | ct::core::SymplecticSystem< RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+ACT_STATE_DIM/2, RBDDynamics::NJOINTS+EE_ARE_CONTROL_INPUTS *RBDDynamics::N_EE *3, RBDDynamics::SCALAR > | virtual |
| ~System() | ct::core::System< STATE_DIM, SCALAR > | virtual |
1.8.13