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| RBDL_DLLAPI VectorNd | VectorFromPtr (unsigned int n, Scalar *ptr) |
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| RBDL_DLLAPI MatrixNd | MatrixFromPtr (unsigned int rows, unsigned int cols, Scalar *ptr, bool row_major=true) |
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| RBDL_DLLAPI bool | LinSolveGaussElimPivot (MatrixNd A, VectorNd b, VectorNd &x) |
| | Solves a linear system using gaussian elimination with pivoting. More...
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| RBDL_DLLAPI void | SpatialMatrixSetSubmatrix (SpatialMatrix &dest, unsigned int row, unsigned int col, const Matrix3d &matrix) |
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| RBDL_DLLAPI bool | SpatialMatrixCompareEpsilon (const SpatialMatrix &matrix_a, const SpatialMatrix &matrix_b, Scalar epsilon) |
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| RBDL_DLLAPI bool | SpatialVectorCompareEpsilon (const SpatialVector &vector_a, const SpatialVector &vector_b, Scalar epsilon) |
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| RBDL_DLLAPI Matrix3d | parallel_axis (const Matrix3d &inertia, Scalar mass, const Vector3d &com) |
| | Translates the inertia matrix to a new center. More...
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| RBDL_DLLAPI SpatialMatrix | Xtrans_mat (const Vector3d &displacement) |
| | Creates a transformation of a linear displacement. More...
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| RBDL_DLLAPI SpatialMatrix | Xrotz_mat (const Scalar &zrot) |
| | Creates a rotational transformation around the Z-axis. More...
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| RBDL_DLLAPI SpatialMatrix | Xroty_mat (const Scalar &yrot) |
| | Creates a rotational transformation around the Y-axis. More...
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| RBDL_DLLAPI SpatialMatrix | Xrotx_mat (const Scalar &xrot) |
| | Creates a rotational transformation around the X-axis. More...
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| RBDL_DLLAPI SpatialMatrix | XtransRotZYXEuler (const Vector3d &displacement, const Vector3d &zyx_euler) |
| | Creates a spatial transformation for given parameters. More...
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| RBDL_DLLAPI Matrix3d | rotx (const Scalar &xrot) |
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| RBDL_DLLAPI Matrix3d | roty (const Scalar &yrot) |
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| RBDL_DLLAPI Matrix3d | rotz (const Scalar &zrot) |
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| RBDL_DLLAPI Matrix3d | rotxdot (const Scalar &x, const Scalar &xdot) |
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| RBDL_DLLAPI Matrix3d | rotydot (const Scalar &y, const Scalar &ydot) |
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| RBDL_DLLAPI Matrix3d | rotzdot (const Scalar &z, const Scalar &zdot) |
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| RBDL_DLLAPI Vector3d | angular_velocity_from_angle_rates (const Vector3d &zyx_angles, const Vector3d &zyx_angle_rates) |
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| RBDL_DLLAPI Vector3d | global_angular_velocity_from_rates (const Vector3d &zyx_angles, const Vector3d &zyx_rates) |
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| RBDL_DLLAPI Vector3d | angular_acceleration_from_angle_rates (const Vector3d &zyx_angles, const Vector3d &zyx_angle_rates, const Vector3d &zyx_angle_rates_dot) |
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| RBDL_DLLAPI void | SparseFactorizeLTL (Model &model, Math::MatrixNd &H) |
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| RBDL_DLLAPI void | SparseMultiplyHx (Model &model, Math::MatrixNd &L) |
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| RBDL_DLLAPI void | SparseMultiplyLx (Model &model, Math::MatrixNd &L) |
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| RBDL_DLLAPI void | SparseMultiplyLTx (Model &model, Math::MatrixNd &L) |
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| RBDL_DLLAPI void | SparseSolveLx (Model &model, Math::MatrixNd &L, Math::VectorNd &x) |
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| RBDL_DLLAPI void | SparseSolveLTx (Model &model, Math::MatrixNd &L, Math::VectorNd &x) |
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1.9.3