Drake
KinematicsResults< T > Class Template Reference

A class containing the kinematics results from a RigidBodyPlant system. More...

#include <drake/attic/multibody/rigid_body_plant/kinematics_results.h>

Public Member Functions

 KinematicsResults (const RigidBodyTree< double > *tree)
 Constructs a KinematicsResults object associated with. More...
 
void Update (const Eigen::Ref< const VectorX< T >> &q, const Eigen::Ref< const VectorX< T >> &v)
 Updates the KinematicsResults object given the configuration vector. More...
 
int get_num_bodies () const
 Returns the number of bodies in the kinematics results. More...
 
int get_num_positions () const
 Returns the number of generalized positions. More...
 
int get_num_velocities () const
 Returns the number of generalized velocities. More...
 
Quaternion< Tget_body_orientation (int body_index) const
 Returns the quaternion representation of the three dimensional orientation of body body_index in the world's frame. More...
 
Vector3< Tget_body_position (int body_index) const
 Returns the three dimensional position of body body_index in world's frame. More...
 
Isometry3< Tget_pose_in_world (const RigidBody< T > &body) const
 Returns the pose of body body with respect to the world. More...
 
TwistVector< Tget_twist_in_world_frame (const RigidBody< T > &body) const
 Returns the twist of body with respect to the world, expressed in world frame. More...
 
TwistVector< Tget_twist_in_world_aligned_body_frame (const RigidBody< T > &body) const
 Returns the twist of body with respect to the world, expressed in world frame. More...
 
Eigen::VectorBlock< const VectorX< T > > get_joint_position (const RigidBody< T > &body) const
 Returns the joint position vector associated with the joint between body and body's parent. More...
 
Eigen::VectorBlock< const VectorX< T > > get_joint_velocity (const RigidBody< T > &body) const
 Returns the joint velocity vector associated with the joint between body and body's parent. More...
 
const KinematicsCache< T > & get_cache () const
 
Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
 KinematicsResults (const KinematicsResults &)=default
 
KinematicsResultsoperator= (const KinematicsResults &)=default
 
 KinematicsResults (KinematicsResults &&)=default
 
KinematicsResultsoperator= (KinematicsResults &&)=default
 

Friends

class RigidBodyPlant< T >
 

Detailed Description

template<typename T>
class drake::systems::KinematicsResults< T >

A class containing the kinematics results from a RigidBodyPlant system.

Template Parameters
TThe scalar type. Must be a valid Eigen scalar.

Instantiated templates for the following ScalarTypes are provided:

  • double
  • AutoDiffXd
Note
The templated ScalarTypes are used in the KinematicsCache, but all KinematicsResults use RigidBodyTree<double>. This effectively implies that we can e.g. AutoDiffXd with respect to the configurations, but not the RigidBodyTree parameters.

Constructor & Destructor Documentation

◆ KinematicsResults() [1/3]

KinematicsResults ( const KinematicsResults< T > &  )
default

◆ KinematicsResults() [2/3]

KinematicsResults ( KinematicsResults< T > &&  )
default

◆ KinematicsResults() [3/3]

KinematicsResults ( const RigidBodyTree< double > *  tree)
explicit

Constructs a KinematicsResults object associated with.

Parameters
tree.An alias to
treeis maintained so that the tree's lifetime must exceed this object's lifetime.

Member Function Documentation

◆ get_body_orientation()

Quaternion< T > get_body_orientation ( int  body_index) const

Returns the quaternion representation of the three dimensional orientation of body body_index in the world's frame.

◆ get_body_position()

Vector3< T > get_body_position ( int  body_index) const

Returns the three dimensional position of body body_index in world's frame.

◆ get_cache()

const KinematicsCache<T>& get_cache ( ) const
inline

◆ get_joint_position()

Eigen::VectorBlock< const VectorX< T > > get_joint_position ( const RigidBody< T > &  body) const

Returns the joint position vector associated with the joint between body and body's parent.

◆ get_joint_velocity()

Eigen::VectorBlock< const VectorX< T > > get_joint_velocity ( const RigidBody< T > &  body) const

Returns the joint velocity vector associated with the joint between body and body's parent.

◆ get_num_bodies()

int get_num_bodies ( ) const

Returns the number of bodies in the kinematics results.

◆ get_num_positions()

int get_num_positions ( ) const

Returns the number of generalized positions.

◆ get_num_velocities()

int get_num_velocities ( ) const

Returns the number of generalized velocities.

◆ get_pose_in_world()

Isometry3< T > get_pose_in_world ( const RigidBody< T > &  body) const

Returns the pose of body body with respect to the world.

◆ get_twist_in_world_aligned_body_frame()

TwistVector< T > get_twist_in_world_aligned_body_frame ( const RigidBody< T > &  body) const

Returns the twist of body with respect to the world, expressed in world frame.

◆ get_twist_in_world_frame()

TwistVector< T > get_twist_in_world_frame ( const RigidBody< T > &  body) const

Returns the twist of body with respect to the world, expressed in world frame.

◆ operator=() [1/2]

KinematicsResults& operator= ( KinematicsResults< T > &&  )
default

◆ operator=() [2/2]

KinematicsResults& operator= ( const KinematicsResults< T > &  )
default

◆ Update()

void Update ( const Eigen::Ref< const VectorX< T >> &  q,
const Eigen::Ref< const VectorX< T >> &  v 
)

Updates the KinematicsResults object given the configuration vector.

Parameters
qand velocity vector
v.

Friends And Related Function Documentation

◆ RigidBodyPlant< T >

friend class RigidBodyPlant< T >
friend

The documentation for this class was generated from the following files: