Kinematics.h File Reference

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Data Structures
struct	InverseKinematicsConstraintSet

Namespaces
namespace	RigidBodyDynamics

Functions
RBDL_DLLAPI void	UpdateKinematics (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot)
	Updates and computes velocities and accelerations of the bodies. More...
RBDL_DLLAPI void	UpdateKinematicsCustom (Model &model, const Math::VectorNd *Q, const Math::VectorNd *QDot, const Math::VectorNd *QDDot)
	Selectively updates model internal states of body positions, velocities and/or accelerations. More...
RBDL_DLLAPI Vector3d	CalcBodyToBaseCoordinates (Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &body_point_position, bool update_kinematics=true)
	Returns the base coordinates of a point given in body coordinates. More...
RBDL_DLLAPI Vector3d	CalcBaseToBodyCoordinates (Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &base_point_position, bool update_kinematics=true)
	Returns the body coordinates of a point given in base coordinates. More...
RBDL_DLLAPI Matrix3d	CalcBodyWorldOrientation (Model &model, const Math::VectorNd &Q, const unsigned int body_id, bool update_kinematics=true)
	Returns the orientation of a given body as 3x3 matrix. More...
RBDL_DLLAPI void	CalcPointJacobian (Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the point jacobian for a point on a body. More...
RBDL_DLLAPI void	CalcPointJacobian6D (Model &model, const Math::VectorNd &Q, unsigned int body_id, const Math::Vector3d &point_position, Math::MatrixNd &G, bool update_kinematics=true)
	Computes a 6-D Jacobian for a point on a body. More...
RBDL_DLLAPI void	CalcBodySpatialJacobian (Model &model, const Math::VectorNd &Q, unsigned int body_id, Math::MatrixNd &G, bool update_kinematics=true)
	Computes the spatial jacobian for a body. More...
RBDL_DLLAPI Vector3d	CalcPointVelocity (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
	Computes the velocity of a point on a body. More...
RBDL_DLLAPI Math::SpatialVector	CalcPointVelocity6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
	Computes angular and linear velocity of a point that is fixed on a body. More...
RBDL_DLLAPI Vector3d	CalcPointAcceleration (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
	Computes the linear acceleration of a point on a body. More...
RBDL_DLLAPI SpatialVector	CalcPointAcceleration6D (Model &model, const Math::VectorNd &Q, const Math::VectorNd &QDot, const Math::VectorNd &QDDot, unsigned int body_id, const Math::Vector3d &point_position, bool update_kinematics=true)
	Computes linear and angular acceleration of a point on a body. More...
RBDL_DLLAPI bool	InverseKinematics (Model &model, const Math::VectorNd &Qinit, const std::vector< unsigned int > &body_id, const std::vector< Math::Vector3d > &body_point, const std::vector< Math::Vector3d > &target_pos, Math::VectorNd &Qres, double step_tol=1.0e-12, double lambda=0.01, unsigned int max_iter=55)
	Computes the inverse kinematics iteratively using a damped Levenberg-Marquardt method (also known as Damped Least Squares method) More...
RBDL_DLLAPI Vector3d	CalcAngularVelocityfromMatrix (const Matrix3d &RotMat)
RBDL_DLLAPI bool	InverseKinematics (Model &model, const Math::VectorNd &Qinit, InverseKinematicsConstraintSet &CS, Math::VectorNd &Qres)