Drake
drake::examples::double_pendulum Namespace Reference

Namespaces

 test
 

Functions

Vector3< doubleToVector (const ignition::math::Vector3d &vector)
 
Isometry3< doubleToIsometry (const ignition::math::Pose3d &pose)
 
Isometry3< doubleParsePose (sdf::ElementPtr sdf_pose_element)
 
void ParseGeometry (sdf::ElementPtr sdf_geometry_element, DrakeShapes::Element *element)
 
void ParseVisual (sdf::ElementPtr sdf_visual_element, RigidBody< double > *body)
 
void ParseCollision (sdf::ElementPtr sdf_collision_element, RigidBody< double > *body, RigidBodyTree< double > *tree)
 
void ParseInertial (sdf::ElementPtr sdf_inertial_element, RigidBody< double > *body)
 
void ParseLink (sdf::ElementPtr sdf_link_element, const ModelInstance &instance, RigidBodyTree< double > *tree, FrameCache< double > *frame_cache)
 
std::unique_ptr< DrakeJointParseJointType (sdf::ElementPtr sdf_joint_element, const ModelInstance &instance, const RigidBody< double > &parent_body, const FrameCache< double > &frame_cache)
 
void ParseJoint (sdf::ElementPtr sdf_joint_element, const ModelInstance &instance, RigidBodyTree< double > *tree, FrameCache< double > *frame_cache)
 
void FixDanglingLinks (const ModelInstance &instance, RigidBodyTree< double > *tree)
 
int ParseModel (sdf::ElementPtr sdf_model_element, RigidBodyTree< double > *tree)
 
int ParseModelFromFile (const std::string &sdf_path, RigidBodyTree< double > *tree)
 Parses a model from an SDF file into a RigidBodyTree. More...
 

Function Documentation

void drake::examples::double_pendulum::FixDanglingLinks ( const ModelInstance &  instance,
RigidBodyTree< double > *  tree 
)

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void drake::examples::double_pendulum::ParseCollision ( sdf::ElementPtr  sdf_collision_element,
RigidBody< double > *  body,
RigidBodyTree< double > *  tree 
)

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void drake::examples::double_pendulum::ParseGeometry ( sdf::ElementPtr  sdf_geometry_element,
DrakeShapes::Element element 
)

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void drake::examples::double_pendulum::ParseInertial ( sdf::ElementPtr  sdf_inertial_element,
RigidBody< double > *  body 
)

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void drake::examples::double_pendulum::ParseJoint ( sdf::ElementPtr  sdf_joint_element,
const ModelInstance &  instance,
RigidBodyTree< double > *  tree,
FrameCache< double > *  frame_cache 
)

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std::unique_ptr<DrakeJoint> drake::examples::double_pendulum::ParseJointType ( sdf::ElementPtr  sdf_joint_element,
const ModelInstance &  instance,
const RigidBody< double > &  parent_body,
const FrameCache< double > &  frame_cache 
)

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void drake::examples::double_pendulum::ParseLink ( sdf::ElementPtr  sdf_link_element,
const ModelInstance &  instance,
RigidBodyTree< double > *  tree,
FrameCache< double > *  frame_cache 
)

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int drake::examples::double_pendulum::ParseModel ( sdf::ElementPtr  sdf_model_element,
RigidBodyTree< double > *  tree 
)

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int ParseModelFromFile ( const std::string &  sdf_path,
RigidBodyTree< double > *  tree 
)

Parses a model from an SDF file into a RigidBodyTree.

Remarks
if more than one model is described on the given SDF file, only the first one found will be parsed.
Note
only point mass inertias are supported.
Parameters
[in]sdf_pathwhere the model description is.
[in,out]treemutable rigid body tree to parse into.
Returns
instance id for the newly added model

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Isometry3<double> drake::examples::double_pendulum::ParsePose ( sdf::ElementPtr  sdf_pose_element)

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void drake::examples::double_pendulum::ParseVisual ( sdf::ElementPtr  sdf_visual_element,
RigidBody< double > *  body 
)

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Isometry3<double> drake::examples::double_pendulum::ToIsometry ( const ignition::math::Pose3d &  pose)

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Vector3<double> drake::examples::double_pendulum::ToVector ( const ignition::math::Vector3d &  vector)

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