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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| 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...
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| RBDL_DLLAPI Vector3d | CalcAngularVelocityfromMatrix (const Matrix3d &RotMat) |
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| RBDL_DLLAPI bool | InverseKinematics (Model &model, const Math::VectorNd &Qinit, InverseKinematicsConstraintSet &CS, Math::VectorNd &Qres) |
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1.9.3