drake Namespace Reference

Namespaces
	core
	detail
	math
	nice_type_name_test
	parsers
	solvers
	systems
	test
	util

Classes
class	FunctionalForm
	Represent an abstract form of a function of zero or more variables. More...
class	NAryState
	NAryState is a Drake::Vector (concept implementation) which is a container of zero or more component Drake::Vector instances. More...
class	NArySystem
	A System which aggregates multiple instances of a UnitSystem system. More...
class	NiceTypeName
	Obtains canonicalized, platform-independent, human-readable names for arbitrarily-complicated C++ types. More...

Typedefs
template<typename Scalar >
using	Vector1 = Eigen::Matrix< Scalar, 1, 1 >
	A column vector of size 1 (a scalar), templated on scalar type. More...
template<typename Scalar >
using	Vector2 = Eigen::Matrix< Scalar, 2, 1 >
	A column vector of size 2, templated on scalar type. More...
template<typename Scalar >
using	Vector3 = Eigen::Matrix< Scalar, 3, 1 >
	A column vector of size 3, templated on scalar type. More...
template<typename Scalar >
using	Vector4 = Eigen::Matrix< Scalar, 4, 1 >
	A column vector of size 4, templated on scalar type. More...
template<typename Scalar >
using	Vector6 = Eigen::Matrix< Scalar, 6, 1 >
	A column vector of size 6. More...
template<typename Scalar >
using	VectorX = Eigen::Matrix< Scalar, Eigen::Dynamic, 1 >
	A column vector of any size, templated on scalar type. More...
template<typename Scalar >
using	Matrix3 = Eigen::Matrix< Scalar, 3, 3 >
	A matrix of 3 rows and 3 columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix6 = Eigen::Matrix< Scalar, 6, 6 >
	A matrix of 3 rows and 3 columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix3X = Eigen::Matrix< Scalar, 3, Eigen::Dynamic >
	A matrix of 3 rows, dynamic columns, templated on scalar type. More...
template<typename Scalar >
using	Matrix4X = Eigen::Matrix< Scalar, 4, Eigen::Dynamic >
	A matrix of 4 rows, dynamic columns, templated on scalar type. More...
template<typename Scalar >
using	MatrixX = Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic >
	A matrix of dynamic size, templated on scalar type. More...
using	VectorUpTo73d = Eigen::Matrix< double, Eigen::Dynamic, 1, 0, 73, 1 >
	A column vector of dynamic size, up to a maximum of 73 elements. More...
using	AutoDiffUpTo73d = Eigen::AutoDiffScalar< VectorUpTo73d >
	An autodiff variable with a dynamic number of partials, up to 73 maximum. More...
using	AutoDiffXd = Eigen::AutoDiffScalar< Eigen::VectorXd >
	An autodiff variable with a dynamic number of partials. More...
template<typename Scalar >
using	TwistVector = Eigen::Matrix< Scalar, kTwistSize, 1 >
	A column vector consisting of one twist. More...
template<typename Scalar >
using	TwistMatrix = Eigen::Matrix< Scalar, kTwistSize, Eigen::Dynamic >
	A matrix with one twist per column, and dynamically many columns. More...
template<typename Scalar >
using	SquareTwistMatrix = Eigen::Matrix< Scalar, kTwistSize, kTwistSize >
	A six-by-six matrix. More...

Functions
FunctionalForm	operator+ (FunctionalForm const &l, FunctionalForm const &r)
FunctionalForm	operator- (FunctionalForm const &l, FunctionalForm const &r)
FunctionalForm	operator* (FunctionalForm const &l, FunctionalForm const &r)
FunctionalForm	operator/ (FunctionalForm const &l, FunctionalForm const &r)
FunctionalForm	abs (FunctionalForm const &x)
FunctionalForm	cos (FunctionalForm const &x)
FunctionalForm	exp (FunctionalForm const &x)
FunctionalForm	log (FunctionalForm const &x)
FunctionalForm	sin (FunctionalForm const &x)
FunctionalForm	sqrt (FunctionalForm const &x)
FunctionalForm &	operator+= (FunctionalForm &l, FunctionalForm const &r)
FunctionalForm &	operator-= (FunctionalForm &l, FunctionalForm const &r)
FunctionalForm &	operator*= (FunctionalForm &l, FunctionalForm const &r)
FunctionalForm &	operator/= (FunctionalForm &l, FunctionalForm const &r)
FunctionalForm &	operator+= (FunctionalForm &l, double r)
FunctionalForm &	operator-= (FunctionalForm &l, double r)
FunctionalForm &	operator*= (FunctionalForm &l, double r)
FunctionalForm &	operator/= (FunctionalForm &l, double r)
FunctionalForm	operator+ (FunctionalForm const &l, double r)
FunctionalForm	operator+ (double l, FunctionalForm const &r)
FunctionalForm	operator- (FunctionalForm const &l, double r)
FunctionalForm	operator- (double l, FunctionalForm const &r)
FunctionalForm	operator* (FunctionalForm const &l, double r)
FunctionalForm	operator* (double l, FunctionalForm const &r)
FunctionalForm	operator/ (FunctionalForm const &l, double r)
FunctionalForm	operator/ (double l, FunctionalForm const &r)
std::ostream &	operator<< (std::ostream &os, FunctionalForm const &f)
std::ostream &	operator<< (std::ostream &os, FunctionalForm::Variable const &v)
bool	operator== (FunctionalForm::Variable const &l, FunctionalForm::Variable const &r)
bool	operator!= (FunctionalForm::Variable const &l, FunctionalForm::Variable const &r)
bool	operator< (FunctionalForm::Variable const &l, FunctionalForm::Variable const &r)
bool	operator<= (FunctionalForm::Variable const &l, FunctionalForm::Variable const &r)
bool	operator> (FunctionalForm::Variable const &l, FunctionalForm::Variable const &r)
bool	operator>= (FunctionalForm::Variable const &l, FunctionalForm::Variable const &r)
bool	operator== (FunctionalForm::Variables const &lhs, FunctionalForm::Variables const &rhs)
bool	operator!= (FunctionalForm::Variables const &lhs, FunctionalForm::Variables const &rhs)

Variables
constexpr int	kQuaternionSize = 4
constexpr int	kSpaceDimension = 3
constexpr int	kRpySize = 3
constexpr int	kTwistSize = 6
	https://en.wikipedia.org/wiki/Screw_theory#Twist More...
static const char *const	kFunctionalFormNames []
static std::size_t constexpr	kInvalidIndex = ~static_cast<std::size_t>(0)

Typedef Documentation

using AutoDiffUpTo73d = Eigen::AutoDiffScalar<VectorUpTo73d>

An autodiff variable with a dynamic number of partials, up to 73 maximum.

using AutoDiffXd = Eigen::AutoDiffScalar<Eigen::VectorXd>

An autodiff variable with a dynamic number of partials.

using Matrix3 = Eigen::Matrix<Scalar, 3, 3>

A matrix of 3 rows and 3 columns, templated on scalar type.

using Matrix3X = Eigen::Matrix<Scalar, 3, Eigen::Dynamic>

A matrix of 3 rows, dynamic columns, templated on scalar type.

using Matrix4X = Eigen::Matrix<Scalar, 4, Eigen::Dynamic>

A matrix of 4 rows, dynamic columns, templated on scalar type.

using Matrix6 = Eigen::Matrix<Scalar, 6, 6>

A matrix of 3 rows and 3 columns, templated on scalar type.

using MatrixX = Eigen::Matrix<Scalar, Eigen::Dynamic, Eigen::Dynamic>

A matrix of dynamic size, templated on scalar type.

using SquareTwistMatrix = Eigen::Matrix<Scalar, kTwistSize, kTwistSize>

A six-by-six matrix.

using TwistMatrix = Eigen::Matrix<Scalar, kTwistSize, Eigen::Dynamic>

A matrix with one twist per column, and dynamically many columns.

using TwistVector = Eigen::Matrix<Scalar, kTwistSize, 1>

A column vector consisting of one twist.

using Vector1 = Eigen::Matrix<Scalar, 1, 1>

A column vector of size 1 (a scalar), templated on scalar type.

using Vector2 = Eigen::Matrix<Scalar, 2, 1>

A column vector of size 2, templated on scalar type.

using Vector3 = Eigen::Matrix<Scalar, 3, 1>

A column vector of size 3, templated on scalar type.

using Vector4 = Eigen::Matrix<Scalar, 4, 1>

A column vector of size 4, templated on scalar type.

using Vector6 = Eigen::Matrix<Scalar, 6, 1>

A column vector of size 6.

using VectorUpTo73d = Eigen::Matrix<double, Eigen::Dynamic, 1, 0, 73, 1>

A column vector of dynamic size, up to a maximum of 73 elements.

using VectorX = Eigen::Matrix<Scalar, Eigen::Dynamic, 1>

A column vector of any size, templated on scalar type.

Function Documentation

FunctionalForm drake::abs

(

FunctionalForm const &

x

)

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FunctionalForm drake::cos

(

FunctionalForm const &

x

)

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FunctionalForm drake::exp

(

FunctionalForm const &

x

)

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FunctionalForm drake::log

(

FunctionalForm const &

x

)

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bool drake::operator!=	(	FunctionalForm::Variable const &	l,
		FunctionalForm::Variable const &	r
	)

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bool drake::operator!=	(	FunctionalForm::Variables const &	lhs,
		FunctionalForm::Variables const &	rhs
	)

FunctionalForm drake::operator*	(	FunctionalForm const &	l,
		FunctionalForm const &	r
	)

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FunctionalForm drake::operator*	(	FunctionalForm const &	l,
		double	r
	)

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FunctionalForm drake::operator*	(	double	l,
		FunctionalForm const &	r
	)

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FunctionalForm& drake::operator*=	(	FunctionalForm &	l,
		FunctionalForm const &	r
	)

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FunctionalForm& drake::operator*=	(	FunctionalForm &	l,
		double	r
	)

FunctionalForm drake::operator+	(	FunctionalForm const &	l,
		FunctionalForm const &	r
	)

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FunctionalForm drake::operator+	(	FunctionalForm const &	l,
		double	r
	)

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FunctionalForm drake::operator+	(	double	l,
		FunctionalForm const &	r
	)

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FunctionalForm& drake::operator+=	(	FunctionalForm &	l,
		FunctionalForm const &	r
	)

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FunctionalForm& drake::operator+=	(	FunctionalForm &	l,
		double	r
	)

FunctionalForm drake::operator-	(	FunctionalForm const &	l,
		FunctionalForm const &	r
	)

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FunctionalForm drake::operator-	(	FunctionalForm const &	l,
		double	r
	)

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FunctionalForm drake::operator-	(	double	l,
		FunctionalForm const &	r
	)

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FunctionalForm& drake::operator-=	(	FunctionalForm &	l,
		FunctionalForm const &	r
	)

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FunctionalForm& drake::operator-=	(	FunctionalForm &	l,
		double	r
	)

FunctionalForm drake::operator/	(	FunctionalForm const &	l,
		FunctionalForm const &	r
	)

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FunctionalForm drake::operator/	(	FunctionalForm const &	l,
		double	r
	)

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FunctionalForm drake::operator/	(	double	l,
		FunctionalForm const &	r
	)

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FunctionalForm& drake::operator/=	(	FunctionalForm &	l,
		FunctionalForm const &	r
	)

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FunctionalForm& drake::operator/=	(	FunctionalForm &	l,
		double	r
	)

bool drake::operator<	(	FunctionalForm::Variable const &	l,
		FunctionalForm::Variable const &	r
	)

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std::ostream& drake::operator<<	(	std::ostream &	os,
		FunctionalForm const &	f
	)

The format is one of:

• "zero"
• "cons"
• "lin(x,...)"
• "aff(x,...)"
• "poly(x,...)"
• "diff(x,...)"
• "arb(x,...)"
• "undf(x,...)"

where "x,..." represents a comma-separated list of the variables combined by the form.

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std::ostream& drake::operator<<	(	std::ostream &	os,
		FunctionalForm::Variable const &	v
	)

bool drake::operator<=	(	FunctionalForm::Variable const &	l,
		FunctionalForm::Variable const &	r
	)

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bool drake::operator==	(	FunctionalForm::Variable const &	l,
		FunctionalForm::Variable const &	r
	)

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bool drake::operator==	(	FunctionalForm::Variables const &	lhs,
		FunctionalForm::Variables const &	rhs
	)

bool drake::operator>	(	FunctionalForm::Variable const &	l,
		FunctionalForm::Variable const &	r
	)

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bool drake::operator>=	(	FunctionalForm::Variable const &	l,
		FunctionalForm::Variable const &	r
	)

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FunctionalForm drake::sin

(

FunctionalForm const &

x

)

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FunctionalForm drake::sqrt

(

FunctionalForm const &

x

)

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Variable Documentation

const char* const kFunctionalFormNames[]

static

Initial value:

= {
    "zero", "cons", "lin", "aff", "poly", "diff", "arb", "undf",
}

std::size_t constexpr kInvalidIndex = ~static_cast<std::size_t>(0)

static

constexpr int kQuaternionSize = 4

constexpr int kRpySize = 3

constexpr int kSpaceDimension = 3

constexpr int kTwistSize = 6

https://en.wikipedia.org/wiki/Screw_theory#Twist