- 3.0.2 rigid body dynamics module.
Static Public Member Functions | Static Public Attributes | List of all members
ct::rbd::TARGET_NS::Utils< SCALAR > Class Template Reference

#include <robcogenHelpers.h>

Static Public Member Functions

template<class TRANS >
static TRANS::MatrixType getTransformBaseLinkById (TRANS &transforms, size_t link_id, const Eigen::Matrix< SCALAR, NJOINTS, 1 > &q)
 
template<class TRANS >
static TRANS::MatrixType getTransformLinkBaseById (TRANS &transforms, size_t link_id, const Eigen::Matrix< SCALAR, NJOINTS, 1 > &q)
 
template<class TRANS >
static TRANS::MatrixType getTransformBaseEEById (TRANS &transforms, size_t ee_id, const Eigen::Matrix< SCALAR, NJOINTS, 1 > &q)
 
static size_t eeIdToLinkId (size_t ee_id)
 
template<class JACS >
static Eigen::Matrix< SCALAR, 6, NJOINTS > getJacobianBaseEEbyId (JACS &jacobians, size_t ee_id, const Eigen::Matrix< SCALAR, NJOINTS, 1 > &q)
 

Static Public Attributes

static const int N_EE = CT_N_EE
 

Member Function Documentation

◆ getTransformBaseLinkById()

template<typename SCALAR >
template<class TRANS >
static TRANS::MatrixType ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformBaseLinkById ( TRANS &  transforms,
size_t  link_id,
const Eigen::Matrix< SCALAR, NJOINTS, 1 > &  q 
)
inlinestatic

References CT_BASE, CT_L0, CT_L1, CT_L10, CT_L11, CT_L2, CT_L3, CT_L4, CT_L5, CT_L6, CT_L7, CT_L8, CT_L9, CT_RBD_CASE_HELPER_JOINT_BEGIN_BASE_ID, and CT_RBD_CASE_HELPER_JOINT_END.

◆ getTransformLinkBaseById()

template<typename SCALAR >
template<class TRANS >
static TRANS::MatrixType ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformLinkBaseById ( TRANS &  transforms,
size_t  link_id,
const Eigen::Matrix< SCALAR, NJOINTS, 1 > &  q 
)
inlinestatic

References CT_BASE, CT_L0, CT_L1, CT_L10, CT_L11, CT_L2, CT_L3, CT_L4, CT_L5, CT_L6, CT_L7, CT_L8, CT_L9, CT_RBD_CASE_HELPER_JOINT_BEGIN_ID_BASE, and CT_RBD_CASE_HELPER_JOINT_END.

◆ getTransformBaseEEById()

template<typename SCALAR >
template<class TRANS >
static TRANS::MatrixType ct::rbd::TARGET_NS::Utils< SCALAR >::getTransformBaseEEById ( TRANS &  transforms,
size_t  ee_id,
const Eigen::Matrix< SCALAR, NJOINTS, 1 > &  q 
)
inlinestatic

References CT_BASE, CT_EE0, CT_EE1, CT_EE2, CT_EE3, CT_RBD_CASE_HELPER_JOINT_BEGIN_BASE_ID, and CT_RBD_CASE_HELPER_JOINT_END.

◆ eeIdToLinkId()

template<typename SCALAR >
static size_t ct::rbd::TARGET_NS::Utils< SCALAR >::eeIdToLinkId ( size_t  ee_id)
inlinestatic

References CT_EE0_IS_ON_LINK, CT_EE1_IS_ON_LINK, CT_EE2_IS_ON_LINK, and CT_EE3_IS_ON_LINK.

◆ getJacobianBaseEEbyId()

template<typename SCALAR >
template<class JACS >
static Eigen::Matrix<SCALAR, 6, NJOINTS> ct::rbd::TARGET_NS::Utils< SCALAR >::getJacobianBaseEEbyId ( JACS &  jacobians,
size_t  ee_id,
const Eigen::Matrix< SCALAR, NJOINTS, 1 > &  q 
)
inlinestatic

References CT_BASE, CT_EE0, CT_EE0_FIRST_JOINT, CT_EE0_LAST_JOINT, CT_EE1, CT_EE1_FIRST_JOINT, CT_EE1_LAST_JOINT, CT_EE2, CT_EE2_FIRST_JOINT, CT_EE2_LAST_JOINT, CT_EE3, CT_EE3_FIRST_JOINT, CT_EE3_LAST_JOINT, CT_RBD_CASE_HELPER_JAC_UPDATE, and CT_RBD_JACOBIAN_GET_BLOCK.

Member Data Documentation

◆ N_EE

template<typename SCALAR >
const int ct::rbd::TARGET_NS::Utils< SCALAR >::N_EE = CT_N_EE
static
The documentation for this class was generated from the following file: