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Tetrapod Project
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Tetrapod Project
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This is the complete list of members for Kinematics, including all inherited members.
| base enum value | Kinematics | |
| BodyType enum name | Kinematics | |
| flOffset | Kinematics | private |
| foot enum value | Kinematics | |
| frOffset | Kinematics | private |
| frontLeft enum value | Kinematics | |
| frontRight enum value | Kinematics | |
| GetBodyInertia(BodyType _body) | Kinematics | private |
| GetBodyInertia(BodyType _body, LegType _leg) | Kinematics | private |
| GetBodyMass(BodyType _body) | Kinematics | private |
| GetContactJacobianInW(std::vector< LegType > &_legs, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetContactJacobianInWDiff(std::vector< LegType > &_legs, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| GetCoriolisAndCentrifugalTerms(const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| GetDhTransform(const double &_a, const double &_alpha, const double &_d, const double &_theta) | Kinematics | |
| GetDistanceFromBaseToFrontLeftHipInB() | Kinematics | inline |
| GetDistanceFromBaseToFrontRightHipInB() | Kinematics | inline |
| GetDistanceFromBaseToRearLeftHipInB() | Kinematics | inline |
| GetDistanceFromBaseToRearRightHipInB() | Kinematics | inline |
| GetflOffset() | Kinematics | inline |
| GetfrOffset() | Kinematics | inline |
| GetGravitationalTerms(const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetHipToBodyTransform(const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp) | Kinematics | |
| GetInertiaMatrix(const double &_I_XX, const double &_I_YY, const double &_I_ZZ, const double &_I_XY, const double &_I_XZ, const double &_I_YZ) | Kinematics | private |
| GetJacobianInW(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetJacobianInWDiff(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| GetMassMatrix(const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetPositionBaseToBodyInB(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetrlOffset() | Kinematics | inline |
| GetRotationJacobianInB(const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp) | Kinematics | |
| GetRotationJacobianInB(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 12, 1 > &_q_r) | Kinematics | |
| GetRotationJacobianInBDiff(const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp, const double &_dot_theta_hy, const double &_dot_theta_hp, const double &_dot_theta_kp) | Kinematics | |
| GetRotationJacobianInBDiff(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 12, 1 > &_q_r, const Eigen::Matrix< double, 12, 1 > &_dot_q_r) | Kinematics | |
| GetRotationJacobianInC(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetRotationJacobianInCDiff(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| GetRotationJacobianInW(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetRotationJacobianInWDiff(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| GetRotationMatrixCToB(const double &_roll, const double &_pitch, const double &_yaw) | Kinematics | |
| GetRotationMatrixCToBDiff(const double &_roll, const double &_pitch, const double &_yaw, const double &_roll_rate, const double &_pitch_rate, const double &_yaw_rate) | Kinematics | |
| GetRotationMatrixWToB(const double &_roll, const double &_pitch, const double &_yaw) | Kinematics | |
| GetRotationMatrixWToBDiff(const double &_roll, const double &_pitch, const double &_yaw, const double &_roll_rate, const double &_pitch_rate, const double &_yaw_rate) | Kinematics | |
| GetRotationMatrixWToC(const double &_roll, const double &_pitch, const double &_yaw) | Kinematics | |
| GetRotationMatrixWToCDiff(const double &_roll, const double &_pitch, const double &_yaw, const double &_roll_rate, const double &_pitch_rate, const double &_yaw_rate) | Kinematics | |
| GetrrOffset() | Kinematics | inline |
| GetSingleBodyCoriolisAndCentrifugalTerms(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| GetSingleBodyGravitationalTerms(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetSingleBodyMassMatrix(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetSingleLegCoriolisAndCentrifugalTerms(const Eigen::Matrix< double, 3, 1 > &_q, const Eigen::Matrix< double, 3, 1 > &_u) | Kinematics | |
| GetSingleLegGravitationalTerms(const Eigen::Matrix< double, 3, 1 > &_q) | Kinematics | |
| GetSingleLegMassMatrix(const Eigen::Matrix< double, 3, 1 > &_q) | Kinematics | |
| GetSwingJacobianInW(std::vector< LegType > &_legs, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetSwingJacobianInWDiff(std::vector< LegType > &_legs, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| GetTranslationJacobianInB(const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp) | Kinematics | |
| GetTranslationJacobianInB(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 12, 1 > &_q_r) | Kinematics | |
| GetTranslationJacobianInBDiff(const LegType &_leg, const BodyType &_body, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp, const double &_dot_theta_hy, const double &_dot_theta_hp, const double &_dot_theta_kp) | Kinematics | |
| GetTranslationJacobianInBDiff(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 12, 1 > &_q_r, const Eigen::Matrix< double, 12, 1 > &_dot_q_r) | Kinematics | |
| GetTranslationJacobianInC(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetTranslationJacobianInCDiff(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| GetTranslationJacobianInW(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q) | Kinematics | |
| GetTranslationJacobianInWDiff(const LegType &_leg, const BodyType &_body, const Eigen::Matrix< double, 18, 1 > &_q, const Eigen::Matrix< double, 18, 1 > &_u) | Kinematics | |
| hip enum value | Kinematics | |
| I0 | Kinematics | private |
| I1_fl_rr | Kinematics | private |
| I1_fr_rl | Kinematics | private |
| I2 | Kinematics | private |
| I3 | Kinematics | private |
| Kinematics() | Kinematics | |
| L1 | Kinematics | private |
| L2 | Kinematics | private |
| L3 | Kinematics | private |
| LC1 | Kinematics | private |
| LC2 | Kinematics | private |
| LC3 | Kinematics | private |
| leg enum value | Kinematics | |
| LegType enum name | Kinematics | |
| M0 | Kinematics | private |
| M1 | Kinematics | private |
| M2 | Kinematics | private |
| M3 | Kinematics | private |
| max_angles | Kinematics | private |
| min_angles | Kinematics | private |
| NONE enum value | Kinematics | |
| positionBaseToFrontLeftInB | Kinematics | private |
| positionBaseToFrontRightInB | Kinematics | private |
| positionBaseToRearLeftInB | Kinematics | private |
| positionBaseToRearRightInB | Kinematics | private |
| rearLeft enum value | Kinematics | |
| rearRight enum value | Kinematics | |
| rlOffset | Kinematics | private |
| rrOffset | Kinematics | private |
| SolveForwardKinematics(const GeneralizedCoordinates &_q, FootstepPositions &_f_pos) | Kinematics | |
| SolveInverseKinematics(const Twist &_q_b, const FootstepPositions &_f_pos, JointSpaceVector &_q_r) | Kinematics | |
| SolveSingleLegForwardKinematics(const Vector3d &_h_pos, const double &_theta_hy, const double &_theta_hp, const double &_theta_kp) | Kinematics | |
| SolveSingleLegForwardKinematics(const Vector3d &_joint_angles) | Kinematics | |
| SolveSingleLegForwardKinematics(const LegType &_leg_type, const Vector3d &_joint_angles) | Kinematics | |
| SolveSingleLegHipToFootForwardKinematics(const LegType &_leg_type, const Vector3d &_joint_angles) | Kinematics | |
| SolveSingleLegInverseKinematics(const bool &_offset, const Vector3d &_h_pos, const Vector3d &_f_pos, Vector3d &_joint_angles) | Kinematics | |
| SolveSingleLegInverseKinematics(const bool &_offset, const Vector3d &_f_pos, Vector3d &_joint_angles) | Kinematics | |
| thigh enum value | Kinematics | |
| ValidateSolution(const JointSpaceVector &_q_r) | Kinematics | |
| ValidateSolution(const Eigen::Matrix< double, 3, 1 > &_q_r) | Kinematics | |
| ~Kinematics() | Kinematics | virtual |
1.9.1