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Drake
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Drake
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This is the complete list of members for RigidBodyTree, including all inherited members.
| a_grav | RigidBodyTree | |
| accumulateContactJacobian(const KinematicsCache< Scalar > &cache, const int bodyInd, Matrix3Xd const &bodyPoints, std::vector< size_t > const &cindA, std::vector< size_t > const &cindB, Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &J) const | RigidBodyTree | |
| actuators | RigidBodyTree | |
| add_rigid_body(std::unique_ptr< RigidBody > body) | RigidBodyTree | |
| addCollisionElement(const RigidBody::CollisionElement &element, RigidBody &body, const std::string &group_name) | RigidBodyTree | |
| AddFloatingJoint(DrakeJoint::FloatingBaseType floating_base_type, const std::vector< int > &link_indices, const std::shared_ptr< RigidBodyFrame > weld_to_frame=nullptr, const PoseMap *pose_map=nullptr) | RigidBodyTree | |
| addFrame(std::shared_ptr< RigidBodyFrame > frame) | RigidBodyTree | |
| addRobotFromSDF(const std::string &sdf_filename, const DrakeJoint::FloatingBaseType floating_base_type=DrakeJoint::QUATERNION, std::shared_ptr< RigidBodyFrame > weld_to_frame=nullptr) | RigidBodyTree | |
| addRobotFromURDF(const std::string &urdf_filename, const DrakeJoint::FloatingBaseType floating_base_type=DrakeJoint::ROLLPITCHYAW, std::shared_ptr< RigidBodyFrame > weld_to_frame=nullptr) | RigidBodyTree | |
| addRobotFromURDF(const std::string &urdf_filename, std::map< std::string, std::string > &package_map, const DrakeJoint::FloatingBaseType floating_base_type=DrakeJoint::ROLLPITCHYAW, std::shared_ptr< RigidBodyFrame > weld_to_frame=nullptr) | RigidBodyTree | |
| addRobotFromURDFString(const std::string &xml_string, const std::string &root_dir=".", const DrakeJoint::FloatingBaseType floating_base_type=DrakeJoint::ROLLPITCHYAW, std::shared_ptr< RigidBodyFrame > weld_to_frame=nullptr) | RigidBodyTree | |
| addRobotFromURDFString(const std::string &xml_string, std::map< std::string, std::string > &package_map, const std::string &root_dir=".", const DrakeJoint::FloatingBaseType floating_base_type=DrakeJoint::ROLLPITCHYAW, std::shared_ptr< RigidBodyFrame > weld_to_frame=nullptr) | RigidBodyTree | |
| allCollisions(const KinematicsCache< double > &cache, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, Eigen::Matrix3Xd &ptsA, Eigen::Matrix3Xd &ptsB, bool use_margins=true) | RigidBodyTree | |
| B | RigidBodyTree | |
| bodies | RigidBodyTree | |
| centerOfMass(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum=default_robot_num_set) const | RigidBodyTree | |
| centerOfMass(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum) const | RigidBodyTree | |
| centerOfMassJacobian(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum=default_robot_num_set, bool in_terms_of_qdot=false) const | RigidBodyTree | |
| centerOfMassJacobian(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum, bool in_terms_of_qdot) const | RigidBodyTree | |
| centerOfMassJacobianDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum=default_robot_num_set) const | RigidBodyTree | |
| centerOfMassJacobianDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum) const | RigidBodyTree | |
| centroidalMomentumMatrix(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum=default_robot_num_set, bool in_terms_of_qdot=false) const | RigidBodyTree | |
| centroidalMomentumMatrix(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum, bool in_terms_of_qdot) const | RigidBodyTree | |
| centroidalMomentumMatrixDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum=default_robot_num_set) const | RigidBodyTree | |
| centroidalMomentumMatrixDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum) const | RigidBodyTree | |
| collidingPoints(const KinematicsCache< double > &cache, const std::vector< Eigen::Vector3d > &points, double collision_threshold) | RigidBodyTree | virtual |
| collidingPointsCheckOnly(const KinematicsCache< double > &cache, const std::vector< Eigen::Vector3d > &points, double collision_threshold) | RigidBodyTree | virtual |
| collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, const std::vector< DrakeCollision::ElementId > &ids_to_check, bool use_margins) | RigidBodyTree | |
| collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, const std::vector< int > &bodies_idx, const std::set< std::string > &active_element_groups, bool use_margins=true) | RigidBodyTree | |
| collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, const std::vector< int > &bodies_idx, bool use_margins=true) | RigidBodyTree | |
| collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, const std::set< std::string > &active_element_groups, bool use_margins=true) | RigidBodyTree | |
| collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, bool use_margins=true) | RigidBodyTree | |
| collisionDetectFromPoints(const KinematicsCache< double > &cache, const Eigen::Matrix3Xd &points, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &x, Eigen::Matrix3Xd &body_x, std::vector< int > &body_idx, bool use_margins) | RigidBodyTree | |
| collisionRaycast(const KinematicsCache< double > &cache, const Eigen::Matrix3Xd &origins, const Eigen::Matrix3Xd &ray_endpoints, Eigen::VectorXd &distances, bool use_margins=false) | RigidBodyTree | |
| collisionRaycast(const KinematicsCache< double > &cache, const Eigen::Matrix3Xd &origins, const Eigen::Matrix3Xd &ray_endpoints, Eigen::VectorXd &distances, Eigen::Matrix3Xd &normals, bool use_margins=false) | RigidBodyTree | |
| compactToFull(const Eigen::MatrixBase< Derived > &compact, const std::vector< int > &joint_path, bool in_terms_of_qdot) const | RigidBodyTree | inline |
| compile(void) | RigidBodyTree | |
| computeContactJacobians(const KinematicsCache< Scalar > &cache, Eigen::Ref< const Eigen::VectorXi > const &idxA, Eigen::Ref< const Eigen::VectorXi > const &idxB, Eigen::Ref< const Eigen::Matrix3Xd > const &xA, Eigen::Ref< const Eigen::Matrix3Xd > const &xB, Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &J) const | RigidBodyTree | |
| computeContactJacobians(const KinematicsCache< Scalar > &cache, Ref< const VectorXi > const &idxA, Ref< const VectorXi > const &idxB, Ref< const Matrix3Xd > const &xA, Ref< const Matrix3Xd > const &xB, Matrix< Scalar, Dynamic, Dynamic > &J) const | RigidBodyTree | |
| ComputeMaximumDepthCollisionPoints(const KinematicsCache< double > &cache, bool use_margins=true) | RigidBodyTree | |
| computePositionNameToIndexMap() const | RigidBodyTree | |
| default_robot_num_set | RigidBodyTree | static |
| doKinematics(const Eigen::MatrixBase< DerivedQ > &q) const | RigidBodyTree | |
| doKinematics(const Eigen::MatrixBase< DerivedQ > &q, const Eigen::MatrixBase< DerivedV > &v, bool compute_JdotV=true) const | RigidBodyTree | |
| doKinematics(KinematicsCache< Scalar > &cache, bool compute_JdotV=false) const | RigidBodyTree | |
| drawKinematicTree(std::string graphviz_dotfile_filename) const | RigidBodyTree | |
| dynamicsBiasTerm(KinematicsCache< Scalar > &cache, const eigen_aligned_unordered_map< RigidBody const *, drake::TwistVector< Scalar >> &f_ext, bool include_velocity_terms=true) const | RigidBodyTree | |
| dynamicsBiasTerm(KinematicsCache< Scalar > &cache, const eigen_aligned_unordered_map< RigidBody const *, TwistVector< Scalar >> &f_ext, bool include_velocity_terms) const | RigidBodyTree | |
| findAncestorBodies(std::vector< int > &ancestor_bodies, int body) const | RigidBodyTree | |
| FindBody(const std::string &body_name, const std::string &model_name="", int model_id=-1) const | RigidBodyTree | |
| FindBodyIndex(const std::string &body_name, int model_id=-1) const | RigidBodyTree | |
| findFrame(const std::string &frame_name, int model_id=-1) const | RigidBodyTree | |
| findJoint(const std::string &joint_name, int model_id=-1) const | RigidBodyTree | |
| findJointId(const std::string &joint_name, int model_id=-1) const | RigidBodyTree | |
| findKinematicPath(int start_body_or_frame_idx, int end_body_or_frame_idx) const | RigidBodyTree | |
| findLink(const std::string &link_name, const std::string &model_name="", int model_id=-1) const | RigidBodyTree | |
| findLinkId(const std::string &link_name, int model_id=-1) const | RigidBodyTree | |
| forwardKinPositionGradient(const KinematicsCache< Scalar > &cache, int npoints, int from_body_or_frame_ind, int to_body_or_frame_ind) const | RigidBodyTree | |
| forwardKinPositionGradient(const KinematicsCache< Scalar > &cache, int npoints, int from_body_or_frame_ind, int to_body_or_frame_ind) const | RigidBodyTree | |
| frames | RigidBodyTree | |
| frictionTorques(Eigen::MatrixBase< DerivedV > const &v) const | RigidBodyTree | |
| frictionTorques(Eigen::MatrixBase< DerivedV > const &v) const | RigidBodyTree | |
| geometricJacobian(const KinematicsCache< Scalar > &cache, int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, bool in_terms_of_qdot=false, std::vector< int > *v_indices=nullptr) const | RigidBodyTree | |
| geometricJacobian(const KinematicsCache< Scalar > &cache, int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, bool in_terms_of_qdot, std::vector< int > *v_or_qdot_indices) const | RigidBodyTree | |
| geometricJacobianDotTimesV(const KinematicsCache< Scalar > &cache, int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind) const | RigidBodyTree | |
| geometricJacobianDotTimesV(const KinematicsCache< Scalar > &cache, int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind) const | RigidBodyTree | |
| get_current_model_id() | RigidBodyTree | inline |
| get_next_model_id() | RigidBodyTree | inline |
| GetActuator(const std::string &name) const | RigidBodyTree | |
| getBodyOrFrameName(int body_or_frame_id) const | RigidBodyTree | |
| getMass(const std::set< int > &robotnum=default_robot_num_set) const | RigidBodyTree | |
| getNumContacts(const std::set< int > &body_idx) const | RigidBodyTree | |
| getNumJointLimitConstraints() const | RigidBodyTree | |
| getNumPositionConstraints() const | RigidBodyTree | |
| getPositionName(int position_num) const | RigidBodyTree | |
| getRandomConfiguration(std::default_random_engine &generator) const | RigidBodyTree | |
| getStateName(int state_num) const | RigidBodyTree | |
| getTerrainContactPoints(const RigidBody &body, Eigen::Matrix3Xd &terrain_points) const | RigidBodyTree | |
| getVelocityName(int velocity_num) const | RigidBodyTree | |
| getZeroConfiguration() const | RigidBodyTree | |
| inverseDynamics(KinematicsCache< Scalar > &cache, const eigen_aligned_unordered_map< RigidBody const *, drake::TwistVector< Scalar >> &f_ext, const Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > &vd, bool include_velocity_terms=true) const | RigidBodyTree | |
| inverseDynamics(KinematicsCache< Scalar > &cache, const eigen_aligned_unordered_map< RigidBody const *, TwistVector< Scalar >> &f_ext, const Matrix< Scalar, Eigen::Dynamic, 1 > &vd, bool include_velocity_terms) const | RigidBodyTree | |
| isBodyPartOfRobot(const RigidBody &body, const std::set< int > &robotnum) const | RigidBodyTree | |
| joint_limit_max | RigidBodyTree | |
| joint_limit_min | RigidBodyTree | |
| jointLimitConstraints(Eigen::MatrixBase< DerivedA > const &q, Eigen::MatrixBase< DerivedB > &phi, Eigen::MatrixBase< DerivedC > &J) const | RigidBodyTree | |
| jointLimitConstraints(MatrixBase< DerivedA > const &q, MatrixBase< DerivedB > &phi, MatrixBase< DerivedC > &J) const | RigidBodyTree | |
| kWorldLinkName | RigidBodyTree | static |
| loops | RigidBodyTree | |
| massMatrix(KinematicsCache< Scalar > &cache) const | RigidBodyTree | |
| massMatrix(KinematicsCache< Scalar > &cache) const | RigidBodyTree | |
| number_of_positions() const | RigidBodyTree | inline |
| number_of_velocities() const | RigidBodyTree | inline |
| operator<<(std::ostream &, const RigidBodyTree &) | RigidBodyTree | friend |
| parseBodyOrFrameID(const int body_or_frame_id, Eigen::Transform< Scalar, 3, Eigen::Isometry > *Tframe) const | RigidBodyTree | |
| parseBodyOrFrameID(const int body_or_frame_id) const | RigidBodyTree | |
| parseBodyOrFrameID(const int body_or_frame_id, Eigen::Transform< Scalar, 3, Isometry > *Tframe) const | RigidBodyTree | |
| positionConstraints(const KinematicsCache< Scalar > &cache) const | RigidBodyTree | |
| positionConstraints(const KinematicsCache< Scalar > &cache) const | RigidBodyTree | |
| positionConstraintsJacDotTimesV(const KinematicsCache< Scalar > &cache) const | RigidBodyTree | |
| positionConstraintsJacDotTimesV(const KinematicsCache< Scalar > &cache) const | RigidBodyTree | |
| positionConstraintsJacobian(const KinematicsCache< Scalar > &cache, bool in_terms_of_qdot=true) const | RigidBodyTree | |
| positionConstraintsJacobian(const KinematicsCache< Scalar > &cache, bool in_terms_of_qdot) const | RigidBodyTree | |
| potentialCollisions(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, bool use_margins=true) | RigidBodyTree | |
| relativeQuaternion(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind) const | RigidBodyTree | inline |
| relativeQuaternionJacobian(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const | RigidBodyTree | |
| relativeQuaternionJacobian(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const | RigidBodyTree | |
| relativeQuaternionJacobianDotTimesV(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind) const | RigidBodyTree | |
| relativeRollPitchYaw(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind) const | RigidBodyTree | inline |
| relativeRollPitchYawJacobian(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const | RigidBodyTree | |
| relativeRollPitchYawJacobian(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const | RigidBodyTree | |
| relativeRollPitchYawJacobianDotTimesV(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind) const | RigidBodyTree | |
| relativeTransform(const KinematicsCache< Scalar > &cache, int base_or_frame_ind, int body_or_frame_ind) const | RigidBodyTree | |
| relativeTransform(const KinematicsCache< Scalar > &cache, int base_or_frame_ind, int body_or_frame_ind) const | RigidBodyTree | |
| relativeTwist(const KinematicsCache< Scalar > &cache, int base_or_frame_ind, int body_or_frame_ind, int expressed_in_body_or_frame_ind) const | RigidBodyTree | |
| relativeTwist(const KinematicsCache< Scalar > &cache, int base_or_frame_ind, int body_or_frame_ind, int expressed_in_body_or_frame_ind) const | RigidBodyTree | |
| removeCollisionGroupsIf(UnaryPredicate test) | RigidBodyTree | inline |
| resolveCenterOfPressure(const KinematicsCache< double > &cache, const std::vector< ForceTorqueMeasurement > &force_torque_measurements, const Eigen::MatrixBase< DerivedNormal > &normal, const Eigen::MatrixBase< DerivedPoint > &point_on_contact_plane) const | RigidBodyTree | |
| RigidBodyTree(const std::string &urdf_filename, const DrakeJoint::FloatingBaseType floating_base_type=DrakeJoint::ROLLPITCHYAW) | RigidBodyTree | |
| RigidBodyTree(void) | RigidBodyTree | |
| surfaceTangents(Eigen::Map< Eigen::Matrix3Xd > const &normals, std::vector< Eigen::Map< Eigen::Matrix3Xd >> &tangents) const | RigidBodyTree | |
| transformCollisionFrame(const DrakeCollision::ElementId &eid, const Eigen::Isometry3d &transform_body_to_joint) | RigidBodyTree | |
| transformPoints(const KinematicsCache< Scalar > &cache, const Eigen::MatrixBase< DerivedPoints > &points, int from_body_or_frame_ind, int to_body_or_frame_ind) const | RigidBodyTree | inline |
| transformPointsJacobian(const KinematicsCache< Scalar > &cache, const Eigen::MatrixBase< DerivedPoints > &points, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const | RigidBodyTree | |
| transformPointsJacobianDotTimesV(const KinematicsCache< Scalar > &cache, const Eigen::MatrixBase< DerivedPoints > &points, int from_body_or_frame_ind, int to_body_or_frame_ind) const | RigidBodyTree | |
| transformSpatialAcceleration(const KinematicsCache< Scalar > &cache, const drake::TwistVector< Scalar > &spatial_acceleration, int base_or_frame_ind, int body_or_frame_ind, int old_body_or_frame_ind, int new_body_or_frame_ind) const | RigidBodyTree | |
| transformSpatialAcceleration(const KinematicsCache< Scalar > &cache, const TwistVector< Scalar > &spatial_acceleration, int base_ind, int body_ind, int old_expressed_in_body_or_frame_ind, int new_expressed_in_body_or_frame_ind) const | RigidBodyTree | |
| updateCollisionElements(const RigidBody &body, const Eigen::Transform< double, 3, Eigen::Isometry > &transform_to_world) | RigidBodyTree | |
| updateDynamicCollisionElements(const KinematicsCache< double > &kin_cache) | RigidBodyTree | |
| updateStaticCollisionElements() | RigidBodyTree | |
| world() | RigidBodyTree | inline |
| world() const | RigidBodyTree | inline |
| worldMomentumMatrix(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum=default_robot_num_set, bool in_terms_of_qdot=false) const | RigidBodyTree | |
| worldMomentumMatrix(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum, bool in_terms_of_qdot) const | RigidBodyTree | |
| worldMomentumMatrixDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum=default_robot_num_set) const | RigidBodyTree | |
| worldMomentumMatrixDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &robotnum) const | RigidBodyTree | |
| ~RigidBodyTree(void) | RigidBodyTree | virtual |
1.8.11 
