Drake
RigidBodyTree< T > Member List

This is the complete list of members for RigidBodyTree< T >, including all inherited members.

a_gravRigidBodyTree< T >
accumulateContactJacobian(const KinematicsCache< Scalar > &cache, const int bodyInd, Matrix3Xd const &bodyPoints, std::vector< size_t > const &cindA, std::vector< size_t > const &cindB, Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &J) const RigidBodyTree< T >
actuatorsRigidBodyTree< T >
add_model_instance()RigidBodyTree< T >
add_rigid_body(std::unique_ptr< RigidBody< T >> body)RigidBodyTree< T >
addCollisionElement(const drake::multibody::collision::Element &element, RigidBody< T > &body, const std::string &group_name)RigidBodyTree< T >
AddCollisionFilterGroupMember(const std::string &group_name, const std::string &body_name, int model_id)RigidBodyTree< T >
AddCollisionFilterIgnoreTarget(const std::string &group_name, const std::string &target_group_name)RigidBodyTree< T >
addFrame(std::shared_ptr< RigidBodyFrame< T >> frame)RigidBodyTree< T >
allCollisions(const KinematicsCache< double > &cache, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, Eigen::Matrix3Xd &ptsA, Eigen::Matrix3Xd &ptsB, bool use_margins=true)RigidBodyTree< T >
BRigidBodyTree< T >
bodiesRigidBodyTree< T >
BodyToWrenchMap typedefRigidBodyTree< T >
CalcBodyPoseInWorldFrame(const KinematicsCache< T > &cache, const RigidBody< T > &body) const RigidBodyTree< T >inline
CalcBodySpatialVelocityInWorldFrame(const KinematicsCache< T > &cache, const RigidBody< T > &body) const RigidBodyTree< T >
CalcBodySpatialVelocityJacobianDotTimesVInWorldFrame(const KinematicsCache< T > &cache, const RigidBody< T > &body) const RigidBodyTree< T >inline
CalcBodySpatialVelocityJacobianInWorldFrame(const KinematicsCache< T > &cache, const RigidBody< T > &body, bool in_terms_of_qdot=false) const RigidBodyTree< T >inline
CalcFramePoseInWorldFrame(const KinematicsCache< T > &cache, const RigidBodyFrame< T > &frame_F) const RigidBodyTree< T >inline
CalcFramePoseInWorldFrame(const KinematicsCache< T > &cache, const RigidBody< T > &body, const drake::Isometry3< T > &X_BF) const RigidBodyTree< T >
CalcFrameSpatialVelocityInWorldFrame(const KinematicsCache< T > &cache, const RigidBodyFrame< T > &frame_F) const RigidBodyTree< T >inline
CalcFrameSpatialVelocityInWorldFrame(const KinematicsCache< T > &cache, const RigidBody< T > &body, const drake::Isometry3< T > &X_BF) const RigidBodyTree< T >
CalcFrameSpatialVelocityJacobianDotTimesVInWorldFrame(const KinematicsCache< T > &cache, const RigidBody< T > &body, const drake::Isometry3< T > &X_BF) const RigidBodyTree< T >
CalcFrameSpatialVelocityJacobianDotTimesVInWorldFrame(const KinematicsCache< T > &cache, const RigidBodyFrame< T > &frame_F) const RigidBodyTree< T >inline
CalcFrameSpatialVelocityJacobianInWorldFrame(const KinematicsCache< T > &cache, const RigidBody< T > &body, const drake::Isometry3< T > &X_BF, bool in_terms_of_qdot=false) const RigidBodyTree< T >
CalcFrameSpatialVelocityJacobianInWorldFrame(const KinematicsCache< T > &cache, const RigidBodyFrame< T > &frame_F, bool in_terms_of_qdot=false) const RigidBodyTree< T >inline
centerOfMass(const KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set) const RigidBodyTree< T >
centerOfMass(const KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set) const RigidBodyTree< T >
centerOfMassJacobian(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set, bool in_terms_of_qdot=false) const RigidBodyTree< T >
centerOfMassJacobian(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set, bool in_terms_of_qdot) const RigidBodyTree< T >
centerOfMassJacobianDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set) const RigidBodyTree< T >
centerOfMassJacobianDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set) const RigidBodyTree< T >
centroidalMomentumMatrix(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set, bool in_terms_of_qdot=false) const RigidBodyTree< T >
centroidalMomentumMatrix(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set, bool in_terms_of_qdot) const RigidBodyTree< T >
centroidalMomentumMatrixDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set) const RigidBodyTree< T >
centroidalMomentumMatrixDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set) const RigidBodyTree< T >
CheckCacheValidity(const KinematicsCache< Scalar > &cache) const RigidBodyTree< T >
Clone() const RigidBodyTree< T >
collidingPoints(const KinematicsCache< double > &cache, const std::vector< Eigen::Vector3d > &points, double collision_threshold)RigidBodyTree< T >virtual
collidingPointsCheckOnly(const KinematicsCache< double > &cache, const std::vector< Eigen::Vector3d > &points, double collision_threshold)RigidBodyTree< T >virtual
collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, const std::vector< drake::multibody::collision::ElementId > &ids_to_check, bool use_margins)RigidBodyTree< T >
collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, const std::vector< int > &bodies_idx, const std::set< std::string > &active_element_groups, bool use_margins=true)RigidBodyTree< T >
collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, const std::vector< int > &bodies_idx, bool use_margins=true)RigidBodyTree< T >
collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, const std::set< std::string > &active_element_groups, bool use_margins=true)RigidBodyTree< T >
collisionDetect(const KinematicsCache< double > &cache, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &xA, Eigen::Matrix3Xd &xB, std::vector< int > &bodyA_idx, std::vector< int > &bodyB_idx, bool use_margins=true)RigidBodyTree< T >
collisionDetectFromPoints(const KinematicsCache< double > &cache, const Eigen::Matrix3Xd &points, Eigen::VectorXd &phi, Eigen::Matrix3Xd &normal, Eigen::Matrix3Xd &x, Eigen::Matrix3Xd &body_x, std::vector< int > &body_idx, bool use_margins)RigidBodyTree< T >
collisionRaycast(const KinematicsCache< double > &cache, const Eigen::Matrix3Xd &origins, const Eigen::Matrix3Xd &ray_endpoints, Eigen::VectorXd &distances, bool use_margins=false)RigidBodyTree< T >
collisionRaycast(const KinematicsCache< double > &cache, const Eigen::Matrix3Xd &origins, const Eigen::Matrix3Xd &ray_endpoints, Eigen::VectorXd &distances, Eigen::Matrix3Xd &normals, bool use_margins=false)RigidBodyTree< T >
compactToFull(const Eigen::MatrixBase< Derived > &compact, const std::vector< int > &joint_path, bool in_terms_of_qdot) const RigidBodyTree< T >inline
compile()RigidBodyTree< T >
computeContactJacobians(const KinematicsCache< Scalar > &cache, Eigen::Ref< const Eigen::VectorXi > const &idxA, Eigen::Ref< const Eigen::VectorXi > const &idxB, Eigen::Ref< const Eigen::Matrix3Xd > const &xA, Eigen::Ref< const Eigen::Matrix3Xd > const &xB, Eigen::Matrix< Scalar, Eigen::Dynamic, Eigen::Dynamic > &J) const RigidBodyTree< T >
computeContactJacobians(const KinematicsCache< Scalar > &cache, Ref< const VectorXi > const &idxA, Ref< const VectorXi > const &idxB, Ref< const Matrix3Xd > const &xA, Ref< const Matrix3Xd > const &xB, Matrix< Scalar, Dynamic, Dynamic > &J) const RigidBodyTree< T >
ComputeMaximumDepthCollisionPoints(const KinematicsCache< double > &cache, bool use_margins=true)RigidBodyTree< T >
computePositionNameToIndexMap() const RigidBodyTree< T >
CreateKinematicsCache() const RigidBodyTree< T >
CreateKinematicsCacheFromBodiesVector(const std::vector< std::unique_ptr< RigidBody< T >>> &bodies)RigidBodyTree< T >static
CreateKinematicsCacheWithType() const RigidBodyTree< T >
DefineCollisionFilterGroup(const std::string &name)RigidBodyTree< T >
doKinematics(const Eigen::MatrixBase< DerivedQ > &q) const RigidBodyTree< T >
doKinematics(const Eigen::MatrixBase< DerivedQ > &q, const Eigen::MatrixBase< DerivedV > &v, bool compute_JdotV=true) const RigidBodyTree< T >
doKinematics(KinematicsCache< Scalar > &cache, bool compute_JdotV=false) const RigidBodyTree< T >
drawKinematicTree(std::string graphviz_dotfile_filename) const RigidBodyTree< T >
dynamicsBiasTerm(KinematicsCache< Scalar > &cache, const drake::eigen_aligned_std_unordered_map< RigidBody< T > const *, drake::WrenchVector< Scalar >> &external_wrenches, bool include_velocity_terms=true) const RigidBodyTree< T >
dynamicsBiasTerm(KinematicsCache< Scalar > &cache, const drake::eigen_aligned_std_unordered_map< RigidBody< T > const *, WrenchVector< Scalar >> &external_wrenches, bool include_velocity_terms) const RigidBodyTree< T >
FindAncestorBodies(int body_index) const RigidBodyTree< T >
findAncestorBodies(std::vector< int > &ancestor_bodies, int body) const RigidBodyTree< T >
FindBaseBodies(int model_instance_id=-1) const RigidBodyTree< T >
FindBody(const std::string &body_name, const std::string &model_name="", int model_id=-1) const RigidBodyTree< T >
FindBody(drake::multibody::collision::ElementId element_id) const RigidBodyTree< T >
FindBodyIndex(const std::string &body_name, int model_instance_id=-1) const RigidBodyTree< T >
FindChildBodyOfJoint(const std::string &joint_name, int model_instance_id=-1) const RigidBodyTree< T >
FindChildrenOfBody(int parent_body_index, int model_instance_id=-1) const RigidBodyTree< T >
FindCollisionElement(const drake::multibody::collision::ElementId &id) const RigidBodyTree< T >inline
findFrame(const std::string &frame_name, int model_id=-1) const RigidBodyTree< T >
FindIndexOfChildBodyOfJoint(const std::string &joint_name, int model_instance_id=-1) const RigidBodyTree< T >
findJoint(const std::string &joint_name, int model_id=-1) const RigidBodyTree< T >
findJointId(const std::string &joint_name, int model_id=-1) const RigidBodyTree< T >
findKinematicPath(int start_body_or_frame_idx, int end_body_or_frame_idx) const RigidBodyTree< T >
findLink(const std::string &link_name, const std::string &model_name="", int model_id=-1) const RigidBodyTree< T >
findLinkId(const std::string &link_name, int model_id=-1) const RigidBodyTree< T >
FindModelInstanceBodies(int model_instance_id) const RigidBodyTree< T >
forwardKinPositionGradient(const KinematicsCache< Scalar > &cache, int npoints, int from_body_or_frame_ind, int to_body_or_frame_ind) const RigidBodyTree< T >
forwardKinPositionGradient(const KinematicsCache< Scalar > &cache, int npoints, int from_body_or_frame_ind, int to_body_or_frame_ind) const RigidBodyTree< T >
framesRigidBodyTree< T >
frictionTorques(Eigen::MatrixBase< DerivedV > const &v) const RigidBodyTree< T >
frictionTorques(Eigen::MatrixBase< DerivedV > const &v) const RigidBodyTree< T >
geometricJacobian(const KinematicsCache< Scalar > &cache, int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, bool in_terms_of_qdot=false, std::vector< int > *v_indices=nullptr) const RigidBodyTree< T >
geometricJacobian(const KinematicsCache< Scalar > &cache, int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind, bool in_terms_of_qdot, std::vector< int > *v_or_qdot_indices) const RigidBodyTree< T >
geometricJacobianDotTimesV(const KinematicsCache< Scalar > &cache, int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind) const RigidBodyTree< T >
geometricJacobianDotTimesV(const KinematicsCache< Scalar > &cache, int base_body_or_frame_ind, int end_effector_body_or_frame_ind, int expressed_in_body_or_frame_ind) const RigidBodyTree< T >
get_body(int body_index) const RigidBodyTree< T >
get_mutable_body(int body_index)RigidBodyTree< T >
get_next_clique_id()RigidBodyTree< T >inline
get_num_actuators() const RigidBodyTree< T >
get_num_bodies() const RigidBodyTree< T >
get_num_frames() const RigidBodyTree< T >
get_num_model_instances() const RigidBodyTree< T >
get_num_positions() const RigidBodyTree< T >
get_num_velocities() const RigidBodyTree< T >
get_number_of_bodies() const RigidBodyTree< T >
get_number_of_model_instances() const RigidBodyTree< T >
get_position_name(int position_num) const RigidBodyTree< T >
get_velocity_name(int velocity_num) const RigidBodyTree< T >
GetActuator(const std::string &name) const RigidBodyTree< T >
getBodyOrFrameName(int body_or_frame_id) const RigidBodyTree< T >
getMass(const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set) const RigidBodyTree< T >
getNumContacts(const std::set< int > &body_idx) const RigidBodyTree< T >
getNumJointLimitConstraints() const RigidBodyTree< T >
getNumPositionConstraints() const RigidBodyTree< T >
getPositionName(int position_num) const RigidBodyTree< T >
GetQDotToVelocityMapping(const KinematicsCache< Scalar > &cache)RigidBodyTree< T >static
GetQDotToVelocityMapping(const KinematicsCache< Scalar > &cache)RigidBodyTree< T >
getRandomConfiguration(std::default_random_engine &generator) const RigidBodyTree< T >
getStateName(int state_num) const RigidBodyTree< T >
getTerrainContactPoints(const RigidBody< T > &body, Eigen::Matrix3Xd *terrain_points, const std::string &group_name="") const RigidBodyTree< T >
getVelocityName(int velocity_num) const RigidBodyTree< T >
GetVelocityToQDotMapping(const KinematicsCache< Scalar > &cache)RigidBodyTree< T >static
GetVelocityToQDotMapping(const KinematicsCache< Scalar > &cache)RigidBodyTree< T >
getZeroConfiguration() const RigidBodyTree< T >
initialized() const RigidBodyTree< T >inline
inverseDynamics(KinematicsCache< Scalar > &cache, const drake::eigen_aligned_std_unordered_map< RigidBody< T > const *, drake::WrenchVector< Scalar >> &external_wrenches, const Eigen::Matrix< Scalar, Eigen::Dynamic, 1 > &vd, bool include_velocity_terms=true) const RigidBodyTree< T >
inverseDynamics(KinematicsCache< Scalar > &cache, const drake::eigen_aligned_std_unordered_map< RigidBody< T > const *, WrenchVector< Scalar >> &external_wrenches, const Matrix< Scalar, Eigen::Dynamic, 1 > &vd, bool include_velocity_terms) const RigidBodyTree< T >
is_part_of_model_instances(const RigidBody< T > &body, const std::set< int > &model_instance_id_set) const RigidBodyTree< T >
joint_limit_maxRigidBodyTree< T >
joint_limit_minRigidBodyTree< T >
jointLimitConstraints(Eigen::MatrixBase< DerivedA > const &q, Eigen::MatrixBase< DerivedB > &phi, Eigen::MatrixBase< DerivedC > &J) const RigidBodyTree< T >
jointLimitConstraints(MatrixBase< DerivedA > const &q, MatrixBase< DerivedB > &phi, MatrixBase< DerivedC > &J) const RigidBodyTree< T >
loopsRigidBodyTree< T >
LumpedSpatialInertiaInWorldFrame(const KinematicsCache< T > &cache, const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set) const RigidBodyTree< T >
LumpedSpatialInertiaInWorldFrame(const KinematicsCache< T > &cache, const std::vector< const RigidBody< T > * > &bodies_of_interest) const RigidBodyTree< T >
massMatrix(KinematicsCache< Scalar > &cache) const RigidBodyTree< T >
massMatrix(KinematicsCache< Scalar > &cache) const RigidBodyTree< T >
number_of_positions() const RigidBodyTree< T >
number_of_velocities() const RigidBodyTree< T >
operator<<(std::ostream &, const RigidBodyTree< double > &)RigidBodyTree< T >friend
parseBodyOrFrameID(const int body_or_frame_id, Eigen::Transform< Scalar, 3, Eigen::Isometry > *Tframe) const RigidBodyTree< T >
parseBodyOrFrameID(const int body_or_frame_id) const RigidBodyTree< T >
parseBodyOrFrameID(const int body_or_frame_id, Eigen::Transform< Scalar, 3, Isometry > *Tframe) const RigidBodyTree< T >
positionConstraints(const KinematicsCache< Scalar > &cache) const RigidBodyTree< T >
positionConstraints(const KinematicsCache< Scalar > &cache) const RigidBodyTree< T >
positionConstraintsJacDotTimesV(const KinematicsCache< Scalar > &cache) const RigidBodyTree< T >
positionConstraintsJacDotTimesV(const KinematicsCache< Scalar > &cache) const RigidBodyTree< T >
positionConstraintsJacobian(const KinematicsCache< Scalar > &cache, bool in_terms_of_qdot=true) const RigidBodyTree< T >
positionConstraintsJacobian(const KinematicsCache< Scalar > &cache, bool in_terms_of_qdot) const RigidBodyTree< T >
relativeQuaternion(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind) const RigidBodyTree< T >inline
relativeQuaternionJacobian(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const RigidBodyTree< T >
relativeQuaternionJacobian(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const RigidBodyTree< T >
relativeQuaternionJacobianDotTimesV(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind) const RigidBodyTree< T >
relativeRollPitchYaw(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind) const RigidBodyTree< T >inline
relativeRollPitchYawJacobian(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const RigidBodyTree< T >
relativeRollPitchYawJacobian(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const RigidBodyTree< T >
relativeRollPitchYawJacobianDotTimesV(const KinematicsCache< Scalar > &cache, int from_body_or_frame_ind, int to_body_or_frame_ind) const RigidBodyTree< T >
relativeTransform(const KinematicsCache< Scalar > &cache, int base_or_frame_ind, int body_or_frame_ind) const RigidBodyTree< T >
relativeTransform(const KinematicsCache< Scalar > &cache, int base_or_frame_ind, int body_or_frame_ind) const RigidBodyTree< T >
relativeTwist(const KinematicsCache< Scalar > &cache, int base_or_frame_ind, int body_or_frame_ind, int expressed_in_body_or_frame_ind) const RigidBodyTree< T >
relativeTwist(const KinematicsCache< Scalar > &cache, int base_or_frame_ind, int body_or_frame_ind, int expressed_in_body_or_frame_ind) const RigidBodyTree< T >
removeCollisionGroupsIf(UnaryPredicate test)RigidBodyTree< T >inline
resolveCenterOfPressure(const KinematicsCache< double > &cache, const std::vector< ForceTorqueMeasurement > &force_torque_measurements, const Eigen::MatrixBase< DerivedNormal > &normal, const Eigen::MatrixBase< DerivedPoint > &point_on_contact_plane) const RigidBodyTree< T >
RigidBodyTree()RigidBodyTree< T >
SetBodyCollisionFilters(const RigidBody< T > &body, const drake::multibody::collision::bitmask &group, const drake::multibody::collision::bitmask &ignores)RigidBodyTree< T >
surfaceTangents(Eigen::Map< Eigen::Matrix3Xd > const &normals, std::vector< Eigen::Map< Eigen::Matrix3Xd >> &tangents) const RigidBodyTree< T >
transformCollisionFrame(RigidBody< T > *body, const Eigen::Isometry3d &displace_transform)RigidBodyTree< T >
transformPoints(const KinematicsCache< Scalar > &cache, const Eigen::MatrixBase< DerivedPoints > &points, int from_body_or_frame_ind, int to_body_or_frame_ind) const RigidBodyTree< T >inline
transformPointsJacobian(const KinematicsCache< Scalar > &cache, const Eigen::MatrixBase< DerivedPoints > &points, int from_body_or_frame_ind, int to_body_or_frame_ind, bool in_terms_of_qdot) const RigidBodyTree< T >
transformPointsJacobianDotTimesV(const KinematicsCache< Scalar > &cache, const Eigen::MatrixBase< DerivedPoints > &points, int from_body_or_frame_ind, int to_body_or_frame_ind) const RigidBodyTree< T >
transformQDotMappingToVelocityMapping(const KinematicsCache< typename Derived::Scalar > &cache, const Eigen::MatrixBase< Derived > &Ap)RigidBodyTree< T >static
transformQDotMappingToVelocityMapping(const KinematicsCache< typename Derived::Scalar > &cache, const Eigen::MatrixBase< Derived > &Ap)RigidBodyTree< T >
transformQDotToVelocity(const KinematicsCache< T > &cache, const drake::VectorX< T > &qdot)RigidBodyTree< T >static
transformSpatialAcceleration(const KinematicsCache< Scalar > &cache, const drake::TwistVector< Scalar > &spatial_acceleration, int base_or_frame_ind, int body_or_frame_ind, int old_body_or_frame_ind, int new_body_or_frame_ind) const RigidBodyTree< T >
transformSpatialAcceleration(const KinematicsCache< Scalar > &cache, const TwistVector< Scalar > &spatial_acceleration, int base_ind, int body_ind, int old_expressed_in_body_or_frame_ind, int new_expressed_in_body_or_frame_ind) const RigidBodyTree< T >
transformVelocityMappingToQDotMapping(const KinematicsCache< typename Derived::Scalar > &cache, const Eigen::MatrixBase< Derived > &Av)RigidBodyTree< T >static
transformVelocityMappingToQDotMapping(const KinematicsCache< typename Derived::Scalar > &cache, const Eigen::MatrixBase< Derived > &Av)RigidBodyTree< T >
transformVelocityToQDot(const KinematicsCache< T > &cache, const drake::VectorX< T > &v)RigidBodyTree< T >static
updateCollisionElements(const RigidBody< T > &body, const Eigen::Transform< double, 3, Eigen::Isometry > &transform_to_world)RigidBodyTree< T >
updateDynamicCollisionElements(const KinematicsCache< double > &kin_cache)RigidBodyTree< T >
world()RigidBodyTree< T >inline
world() const RigidBodyTree< T >inline
worldMomentumMatrix(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set, bool in_terms_of_qdot=false) const RigidBodyTree< T >
worldMomentumMatrix(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set, bool in_terms_of_qdot) const RigidBodyTree< T >
worldMomentumMatrixDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set=RigidBodyTreeConstants::default_model_instance_id_set) const RigidBodyTree< T >
worldMomentumMatrixDotTimesV(KinematicsCache< Scalar > &cache, const std::set< int > &model_instance_id_set) const RigidBodyTree< T >
~RigidBodyTree()RigidBodyTree< T >virtual