rbdl_utils.cc File Reference

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Namespaces
namespace	RigidBodyDynamics
namespace	RigidBodyDynamics::Utils
	Namespace that contains optional helper functions.

Functions
string	get_dof_name (const SpatialVector &joint_dof)
string	get_body_name (const RigidBodyDynamics::Model &model, unsigned int body_id)
RBDL_DLLAPI std::string	GetModelDOFOverview (const Model &model)
	Creates a human readable overview of the Degrees of Freedom. More...
std::string	print_hierarchy (const RigidBodyDynamics::Model &model, unsigned int body_index=0, int indent=0)
RBDL_DLLAPI std::string	GetModelHierarchy (const Model &model)
	Creates a human readable overview of the model. More...
RBDL_DLLAPI std::string	GetNamedBodyOriginsOverview (Model &model)
	Creates a human readable overview of the locations of all bodies that have names. More...
RBDL_DLLAPI void	CalcCenterOfMass (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, const Math::VectorNd *qddot, Math::Scalar &mass, Math::Vector3d &com, Math::Vector3d *com_velocity=NULL, Math::Vector3d *com_acceleration=NULL, Math::Vector3d *angular_momentum=NULL, Math::Vector3d *change_of_angular_momentum=NULL, bool update_kinematics=true)
	Computes the Center of Mass (COM) and optionally its linear velocity. More...
RBDL_DLLAPI void	CalcZeroMomentPoint (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, const Math::VectorNd &qddot, Math::Vector3d *zmp, const Math::Vector3d &normal=Math::Vector3d(0., 0., 1.), const Math::Vector3d &point=Math::Vector3d(0., 0., 0.), bool update_kinematics=true)
	Computes the Zero-Moment-Point (ZMP) on a given contact surface. More...
RBDL_DLLAPI Scalar	CalcPotentialEnergy (Model &model, const Math::VectorNd &q, bool update_kinematics=true)
	Computes the potential energy of the full model. More...
RBDL_DLLAPI Scalar	CalcKineticEnergy (Model &model, const Math::VectorNd &q, const Math::VectorNd &qdot, bool update_kinematics=true)
	Computes the kinetic energy of the full model. More...