Namespaces
namespace	Balance

namespace	Geometry

namespace	Muscle

Functions
RBDL_ADDON_DLLAPI bool	URDFReadFromFile (const char filename, Model model, bool floating_base, bool verbose=false)

RBDL_ADDON_DLLAPI bool	URDFReadFromString (const char model_xml_string, Model model, bool floating_base, bool verbose=false)


RBDL_ADDON_DLLAPI bool	LuaModelReadFromFile (const char filename, Model upd_model, bool verbose=false)
	Reads a model from a Lua file. More...

RBDL_ADDON_DLLAPI void	LuaModelGetCoordinateNames (const Model *model, std::vector< std::string > &updGeneralizedPositionNames, std::vector< std::string > &updGeneralizedVelocityNames, std::vector< std::string > &updGeneralizedForceNames)

RBDL_ADDON_DLLAPI std::vector< std::string >	LuaModelGetConstraintSetNames (const char *filename)
	Reads a model file and returns the names of all constraint sets. More...

RBDL_ADDON_DLLAPI bool	LuaModelGetConstraintSetPhases (const char *filename, const std::vector< std::string > &constraint_set_names, std::vector< unsigned int > &constraint_set_phases)

RBDL_ADDON_DLLAPI bool	LuaModelReadMotionCaptureMarkers (const char filename, const Model model, std::vector< MotionCaptureMarker > &upd_marker_set, bool verbose=false)

RBDL_ADDON_DLLAPI bool	LuaModelReadPoints (const char filename, const Model model, std::vector< Point > &upd_point_set, bool verbose=false)

RBDL_ADDON_DLLAPI bool	LuaModelReadLocalFrames (const char filename, const Model model, std::vector< LocalFrame > &upd_local_frame_set, bool verbose=false)

RBDL_ADDON_DLLAPI bool	LuaModelReadFromFileWithConstraints (const char filename, Model upd_model, std::vector< ConstraintSet > &constraint_sets, const std::vector< std::string > &constraint_set_names, bool verbose=false)
	Reads a model and constraint sets from a Lua file. More...

RBDL_ADDON_DLLAPI bool	LuaModelReadFromLuaState (lua_State L, Model model, bool verbose=false)
	Reads a model from a lua_State. More...

RBDL_ADDON_DLLAPI bool	LuaModelReadHumanMetaData (const char *filename, HumanMetaData &human_meta_data, bool verbose=false)

RBDL_ADDON_DLLAPI bool	LuaModelReadMillard2016TorqueMuscleSets (const char filename, const RigidBodyDynamics::Model model, const HumanMetaData &human_meta_data, std::vector< RigidBodyDynamics::Addons::Muscle::Millard2016TorqueMuscle > &updMtgSet, std::vector< Millard2016TorqueMuscleConfig > &updMtgSetInfo, bool verbose=false)

RBDL_ADDON_DLLAPI bool	LuaModelWriteModelHeaderEntries (const char *header_file_name, const RigidBodyDynamics::Model &model, bool append)

RBDL_ADDON_DLLAPI bool	LuaModelAddHeaderGuards (const char *header_file_name)

RBDL_ADDON_DLLAPI bool	LuaModelWritePointsHeaderEntries (const char *header_file_name, const std::vector< Point > &point_set, bool append)

RBDL_ADDON_DLLAPI bool	LuaModelWriteMotionCaptureMarkerHeaderEntries (const char *header_file_name, const std::vector< MotionCaptureMarker > &marker_set, bool append)

RBDL_ADDON_DLLAPI bool	LuaModelWriteLocalFrameHeaderEntries (const char *header_file_name, const std::vector< LocalFrame > &local_frame_set, bool append)

RBDL_ADDON_DLLAPI bool	LuaModelWriteConstraintSetHeaderEntries (const char *header_file_name, const std::vector< std::string > &constraint_set_names, const std::vector< RigidBodyDynamics::ConstraintSet > &constraint_sets, bool append)

RBDL_ADDON_DLLAPI bool	LuaModelWriteConstraintSetPhaseHeaderEntries (const char *header_file_name, const std::vector< std::string > &constraint_set_names, const std::vector< unsigned int > &constraint_phases, bool append)

RBDL_ADDON_DLLAPI bool	LuaModelWriteMillard2016TorqueMuscleHeaderEntries (const char *header_file_name, const std::vector< RigidBodyDynamics::Addons::Muscle ::Millard2016TorqueMuscle > &mtg_set, const std::vector< Millard2016TorqueMuscleConfig > &mtg_set_info, bool append)

Function Documentation

◆ LuaModelAddHeaderGuards()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelAddHeaderGuards ( const char * header_file_name )

Will prepend and append header guards where the name is given by the capitlized form of the file name.

Parameters

header_file_name the name of the header file

◆ LuaModelGetConstraintSetNames()

RBDL_ADDON_DLLAPI std::vector< std::string > RigidBodyDynamics::Addons::LuaModelGetConstraintSetNames ( const char * filename )

Reads a model file and returns the names of all constraint sets.

◆ LuaModelGetConstraintSetPhases()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelGetConstraintSetPhases	(	const char *	filename,
		const std::vector< std::string > &	constraint_set_names,
		std::vector< unsigned int > &	constraint_set_phases
	)

◆ LuaModelGetCoordinateNames()

RBDL_ADDON_DLLAPI void RigidBodyDynamics::Addons::LuaModelGetCoordinateNames	(	const Model *	model,
		std::vector< std::string > &	updGeneralizedPositionNames,
		std::vector< std::string > &	updGeneralizedVelocityNames,
		std::vector< std::string > &	updGeneralizedForceNames
	)

◆ LuaModelReadFromFile()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelReadFromFile	(	const char *	filename,
		Model *	upd_model,
		bool	verbose = `false`
	)

Reads a model from a Lua file.

Parameters

filename	the name of the Lua file.
upd_model	a pointer to the output Model structure.
verbose	specifies wether information on the model should be printed (default: true).

Returns: true if the model was read successfully.

Note: See Lua Models for information on how to define the Lua model.

◆ LuaModelReadFromFileWithConstraints()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelReadFromFileWithConstraints	(	const char *	filename,
		Model *	upd_model,
		std::vector< ConstraintSet > &	constraint_sets,
		const std::vector< std::string > &	constraint_set_names,
		bool	verbose = `false`
	)

Reads a model and constraint sets from a Lua file.

Parameters

filename	the name of the Lua file.
upd_model	a pointer to the output Model structure.
constraint_sets	reference to a std::vector of ConstraintSet structures in which to save the information read from the file.
constraint_set_names	reference to a std::vector of std::string specifying the names of the constraint sets to be read from the Lua file.
verbose	specifies wether information on the model should be printed (default: true).

Returns: true if the model and constraint sets were read successfully.

Note: constraint_sets and constraint_set_names are required to have the same size. See Lua Models for information on how to define the Lua model.

◆ LuaModelReadFromLuaState()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelReadFromLuaState	(	lua_State *	L,
		Model *	model,
		bool	verbose = `false`
	)

Reads a model from a lua_State.

Parameters

L	a pointer to the lua_State.
model	a pointer to the output Model structure.
verbose	specifies wether information on the model should be printed (default: true).

Returns: true if the model was read successfully.

◆ LuaModelReadHumanMetaData()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelReadHumanMetaData	(	const char *	filename,
		HumanMetaData &	human_meta_data,
		bool	verbose = `false`
	)

This function will read in the data contained in the 'HumanMetaData' table in the lua file.

Parameters

filename	name of the lua file
human_meta_data	an empty HumanMetaData structure
verbose	information will be printed to the command window if this is set to true.

◆ LuaModelReadLocalFrames()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelReadLocalFrames	(	const char *	filename,
		const Model *	model,
		std::vector< LocalFrame > &	upd_local_frame_set,
		bool	verbose = `false`
	)

This function will load the local frames from the lua file into the std::vector of LocalFrame structures.

Parameters

filename	name of the lua file
model	reference to the (loaded) multibody model.
upd_local_frame_set	an empty std::vector of LocalFrame structurs
verbose	information will be printed to the command window if this is set to true.

◆ LuaModelReadMillard2016TorqueMuscleSets()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelReadMillard2016TorqueMuscleSets	(	const char *	filename,
		const RigidBodyDynamics::Model *	model,
		const HumanMetaData &	human_meta_data,
		std::vector< RigidBodyDynamics::Addons::Muscle::Millard2016TorqueMuscle > &	updMtgSet,
		std::vector< Millard2016TorqueMuscleConfig > &	updMtgSetInfo,
		bool	verbose = `false`
	)

This function will read the information for each millard2016_torque_muscle into the vector of Millard2016TorqueMuscleConfig structs and populate a corresponding vector of Millard2016TorqueMuscle objects. Note that the struct Millard2016TorqueMuscleConfig contains information needed not just to create an Millard2016TorqueMuscle object but also the information needed to retrieve the correct q index, qdot index, and activation index from the state vector to evaluate the joint torque and to update the generalized torque vector. Please see the doxygen on Millard2016TorqueMuscle.h and Millard2016TorqueMuscleConfig for more details.

Parameters

filename	the name of the Lua file.
model	a pointer to the populated Model structure
human_meta_data	the meta data for this subject.
updMtgSet	an empty vector of Millard2016TorqueMuscle objects
updMtgSetInfo	an empty vector of Millard2016TorqueMuscleConfig structs
verbose	specifies wether information on the model should be printed (default: true).

Returns: true if the model and constraint sets were read successfully.

◆ LuaModelReadMotionCaptureMarkers()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelReadMotionCaptureMarkers	(	const char *	filename,
		const Model *	model,
		std::vector< MotionCaptureMarker > &	upd_marker_set,
		bool	verbose = `false`
	)

This function will load named body-fixed motion capture markers that are attached to each body

Parameters

filename	name of the lua file
model	reference to the (loaded) multibody model.
upd_marker_set	an empty std::vector of Point structure
verbose	information will be printed to the command window if this is set to true.

◆ LuaModelReadPoints()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelReadPoints	(	const char *	filename,
		const Model *	model,
		std::vector< Point > &	upd_point_set,
		bool	verbose = `false`
	)

This function will load the point information from the lua file into the std::vector of Point structures.

Parameters

filename	name of the lua file
model	reference to the (loaded) multibody model.
upd_point_set	an empty std::vector of Point structurs
verbose	information will be printed to the command window if this is set to true.

◆ LuaModelWriteConstraintSetHeaderEntries()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelWriteConstraintSetHeaderEntries	(	const char *	header_file_name,
		const std::vector< std::string > &	constraint_set_names,
		const std::vector< RigidBodyDynamics::ConstraintSet > &	constraint_sets,
		bool	append
	)

Generates a number of enums and structures so that each individual constraint row can be selected individually, by user-defined-group id, or constraint set. Note: this header information must be appended prior to the constraint phase data otherwise the header will not compile.

Parameters

header_file_name	the name of the header file
constraint_set_names	the names of the constraint sets returned by the function LuaModelGetConstraintSetNames
constraint_sets	the vector of populated constraint sets
append	false: any existing text will be discarded, true: this text will be appended to the file

◆ LuaModelWriteConstraintSetPhaseHeaderEntries()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelWriteConstraintSetPhaseHeaderEntries	(	const char *	header_file_name,
		const std::vector< std::string > &	constraint_set_names,
		const std::vector< unsigned int > &	constraint_phases,
		bool	append
	)

Generates an enum and a structure so that each constraint set associated with a constraint phase can be easily retreived, and its name can be written to file.

Parameters

header_file_name	the name of the header file
constraint_set_names	the names of the constraint sets returned by the function LuaModelGetConstraintSetNames
constraint_phases	the ordering of the constraint set indices returned by LuaModelGetConstraintSetPhases
append	false: any existing text will be discarded, true: this text will be appended to the file

◆ LuaModelWriteLocalFrameHeaderEntries()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelWriteLocalFrameHeaderEntries	(	const char *	header_file_name,
		const std::vector< LocalFrame > &	local_frame_set,
		bool	append
	)

Generates a header file with human-readable enums for the local frames. In addition a struct is generated so that text of these names can be used to write post-processing scripts/generate sensible messages

Parameters

header_file_name	the name of the header file
local_frame_set	a reference to the populated vector of local frames
append	false: any existing text will be discarded, true: this text will be appended to the file

◆ LuaModelWriteMillard2016TorqueMuscleHeaderEntries()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelWriteMillard2016TorqueMuscleHeaderEntries	(	const char *	header_file_name,
		const std::vector< RigidBodyDynamics::Addons::Muscle ::Millard2016TorqueMuscle > &	mtg_set,
		const std::vector< Millard2016TorqueMuscleConfig > &	mtg_set_info,
		bool	append
	)

Generates an enum and a structure so that each Millard2016TorqueMuscle can be easily retreived, and its name can be written to file.

Parameters

header_file_name	the name of the header file
mtg_set	the vector of populated Millard2016TorqueMuscle objects
mtg_set_info	the vector of Millard2016TorqueMuscleConfig structures
append	false: any existing text will be discarded, true: this text will be appended to the file

◆ LuaModelWriteModelHeaderEntries()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelWriteModelHeaderEntries	(	const char *	header_file_name,
		const RigidBodyDynamics::Model &	model,
		bool	append
	)

Generates a header file with human-readable enums for each of the generalized positions, velocity, accelerations, and forces of the model. In addition, a struct is generated so that the names of these elements can be written to file to make post-processing more systematic. This function is quite comprehensive and will correctly handle the extra degrees of freedom added, for example, to the generalized position vector by a quaternion joint.

Parameters

header_file_name	the name of the header file
model	a reference to the populated model.
append	false: any existing text will be discarded, true: this text will be appended to the file

◆ LuaModelWriteMotionCaptureMarkerHeaderEntries()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelWriteMotionCaptureMarkerHeaderEntries	(	const char *	header_file_name,
		const std::vector< MotionCaptureMarker > &	marker_set,
		bool	append
	)

Generates a header file with human-readable enums for the markers. In addition a struct is generated so that text of these names can be used to write post-processing scripts/generate sensible messages

Parameters

header_file_name	the name of the header file
marker_set	a reference to the populated vector of motion capture markers
append	false: any existing text will be discarded, true: this text will be appended to the file

◆ LuaModelWritePointsHeaderEntries()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::LuaModelWritePointsHeaderEntries	(	const char *	header_file_name,
		const std::vector< Point > &	point_set,
		bool	append
	)

Generates a header file with human-readable enums for the points. In addition a struct is generated so that text of these names can be used to write post-processing scripts/generate sensible messages

Parameters

header_file_name	the name of the header file
point_set	a reference to the populated vector of points
append	false: any existing text will be discarded, true: this text will be appended to the file

◆ URDFReadFromFile()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::URDFReadFromFile	(	const char *	filename,
		Model *	model,
		bool	floating_base,
		bool	verbose = `false`
	)

This function will load a URDF model from a file.

Parameters

filename	path to the URDF file
model	reference to the (loaded) multibody model
floating_pase	does the model use a floating base
verbose	information will be printed to the command window if this is set to true

◆ URDFReadFromString()

RBDL_ADDON_DLLAPI bool RigidBodyDynamics::Addons::URDFReadFromString	(	const char *	model_xml_string,
		Model *	model,
		bool	floating_base,
		bool	verbose = `false`
	)

This function will load a URDF model from a c string.

Parameters

model_xml_string	URDF data in form of a string
model	reference to the (loaded) multibody model
floating_pase	does the model use a floating base
verbose	information will be printed to the command window if this is set to true

Namespaces

Functions

Function Documentation

◆ LuaModelAddHeaderGuards()

◆ LuaModelGetConstraintSetNames()

◆ LuaModelGetConstraintSetPhases()

◆ LuaModelGetCoordinateNames()

◆ LuaModelReadFromFile()

◆ LuaModelReadFromFileWithConstraints()

◆ LuaModelReadFromLuaState()

◆ LuaModelReadHumanMetaData()

◆ LuaModelReadLocalFrames()

◆ LuaModelReadMillard2016TorqueMuscleSets()

◆ LuaModelReadMotionCaptureMarkers()

◆ LuaModelReadPoints()

◆ LuaModelWriteConstraintSetHeaderEntries()

◆ LuaModelWriteConstraintSetPhaseHeaderEntries()

◆ LuaModelWriteLocalFrameHeaderEntries()

◆ LuaModelWriteMillard2016TorqueMuscleHeaderEntries()

◆ LuaModelWriteModelHeaderEntries()

◆ LuaModelWriteMotionCaptureMarkerHeaderEntries()

◆ LuaModelWritePointsHeaderEntries()

◆ URDFReadFromFile()

◆ URDFReadFromString()