rigidBodyTreeMexFunctions.cpp File Reference

#include "drake/systems/plants/rigidBodyTreeMexFunctions.h"
#include <typeinfo>
#include <Eigen/Sparse>
#include "drake/common/drake_assert.h"
#include "drake/common/eigen_types.h"
#include "drake/systems/plants/RigidBodyTree.h"
#include "drake/systems/plants/rigidBodyTreeMexConversions.h"
#include "drake/util/makeFunction.h"
#include "drake/util/standardMexConversions.h"

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Typedefs
typedef AutoDiffScalar< VectorXd >	AutoDiffDynamicSize
typedef DrakeJoint::AutoDiffFixedMaxSize	AutoDiffFixedMaxSize

Functions
void	centerOfMassJacobianDotTimesVmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
	Mex function implementations. More...
void	centerOfMassmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	centerOfMassJacobianmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	centroidalMomentumMatrixDotTimesvmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	centroidalMomentumMatrixmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
template<typename DerivedQ , typename DerivedV >
void	doKinematicsTemp (const RigidBodyTree &model, KinematicsCache< typename DerivedQ::Scalar > &cache, const MatrixBase< DerivedQ > &q, const MatrixBase< DerivedV > &v, bool compute_JdotV)
void	doKinematicsmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	findKinematicPathmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
template<typename Scalar , typename DerivedPoints >
Matrix< Scalar, Dynamic, DerivedPoints::ColsAtCompileTime >	forwardJacDotTimesVTemp (const RigidBodyTree &tree, const KinematicsCache< Scalar > &cache, const MatrixBase< DerivedPoints > &points, int current_body_or_frame_ind, int new_body_or_frame_ind, int rotation_type)
void	forwardJacDotTimesVmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
template<typename Scalar , typename DerivedPoints >
Matrix< Scalar, Dynamic, DerivedPoints::ColsAtCompileTime >	forwardKinTemp (const RigidBodyTree &tree, const KinematicsCache< Scalar > &cache, const MatrixBase< DerivedPoints > &points, int current_body_or_frame_ind, int new_body_or_frame_ind, int rotation_type)
void	forwardKinmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
template<typename Scalar , typename DerivedPoints >
Matrix< Scalar, Dynamic, Dynamic >	forwardKinJacobianTemp (const RigidBodyTree &tree, const KinematicsCache< Scalar > &cache, const MatrixBase< DerivedPoints > &points, int current_body_or_frame_ind, int new_body_or_frame_ind, int rotation_type, bool in_terms_of_qdot)
void	forwardKinJacobianmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	forwardKinPositionGradientmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	geometricJacobianDotTimesVmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
template<typename Scalar >
drake::TwistMatrix< Scalar >	geometricJacobianTemp (const RigidBodyTree &model, 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)
void	geometricJacobianmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	massMatrixmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
template<typename Scalar , typename DerivedF >
Matrix< Scalar, Dynamic, 1 >	dynamicsBiasTermTemp (const RigidBodyTree &model, KinematicsCache< Scalar > &cache, const MatrixBase< DerivedF > &f_ext_value)
void	dynamicsBiasTermmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
template<typename Scalar >
Matrix< Scalar, Dynamic, Dynamic >	velocityToPositionDotMapping (const KinematicsCache< Scalar > &cache)
template<typename Scalar >
Matrix< Scalar, Dynamic, Dynamic >	positionDotToVelocityMapping (const KinematicsCache< Scalar > &cache)
void	velocityToPositionDotMappingmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
void	positionDotToVelocityMappingmex (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])

Typedef Documentation

typedef AutoDiffScalar<VectorXd> AutoDiffDynamicSize

typedef DrakeJoint::AutoDiffFixedMaxSize AutoDiffFixedMaxSize

Function Documentation

void centerOfMassJacobianDotTimesVmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

Mex function implementations.

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void centerOfMassJacobianmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void centerOfMassmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void centroidalMomentumMatrixDotTimesvmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void centroidalMomentumMatrixmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void doKinematicsmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void doKinematicsTemp	(	const RigidBodyTree &	model,
		KinematicsCache< typename DerivedQ::Scalar > &	cache,
		const MatrixBase< DerivedQ > &	q,
		const MatrixBase< DerivedV > &	v,
		bool	compute_JdotV
	)

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void dynamicsBiasTermmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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Matrix<Scalar, Dynamic, 1> dynamicsBiasTermTemp	(	const RigidBodyTree &	model,
		KinematicsCache< Scalar > &	cache,
		const MatrixBase< DerivedF > &	f_ext_value
	)

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void findKinematicPathmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void forwardJacDotTimesVmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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Matrix<Scalar, Dynamic, DerivedPoints::ColsAtCompileTime> forwardJacDotTimesVTemp	(	const RigidBodyTree &	tree,
		const KinematicsCache< Scalar > &	cache,
		const MatrixBase< DerivedPoints > &	points,
		int	current_body_or_frame_ind,
		int	new_body_or_frame_ind,
		int	rotation_type
	)

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void forwardKinJacobianmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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Matrix<Scalar, Dynamic, Dynamic> forwardKinJacobianTemp	(	const RigidBodyTree &	tree,
		const KinematicsCache< Scalar > &	cache,
		const MatrixBase< DerivedPoints > &	points,
		int	current_body_or_frame_ind,
		int	new_body_or_frame_ind,
		int	rotation_type,
		bool	in_terms_of_qdot
	)

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void forwardKinmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void forwardKinPositionGradientmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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Matrix<Scalar, Dynamic, DerivedPoints::ColsAtCompileTime> forwardKinTemp	(	const RigidBodyTree &	tree,
		const KinematicsCache< Scalar > &	cache,
		const MatrixBase< DerivedPoints > &	points,
		int	current_body_or_frame_ind,
		int	new_body_or_frame_ind,
		int	rotation_type
	)

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void geometricJacobianDotTimesVmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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void geometricJacobianmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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drake::TwistMatrix<Scalar> geometricJacobianTemp	(	const RigidBodyTree &	model,
		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
	)

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void massMatrixmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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Matrix<Scalar, Dynamic, Dynamic> positionDotToVelocityMapping

(

const KinematicsCache< Scalar > &

cache

)

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void positionDotToVelocityMappingmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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Matrix<Scalar, Dynamic, Dynamic> velocityToPositionDotMapping

(

const KinematicsCache< Scalar > &

cache

)

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void velocityToPositionDotMappingmex	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

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