Inheritance diagram for KinematicChain3DTemplate< Link >:

Public Member Functions
void	Initialize (int numLinks)

virtual std::string	LinkName (int i) const

bool	InJointLimits (const Vector &q) const

void	UpdateFrames ()

void	GetWorldPosition (const Vector3 &pi, int i, Vector3 &p) const

const Matrix3 &	GetWorldRotation (int i) const

void	GetWorldRotation_Moment (int i, Vector3 &m) const

void	GetWorldVelocity (const Vector3 &pi, int i, const Vector &dq, Vector3 &dp) const

void	GetWorldAngularVelocity (int i, const Vector &dq, Vector3 &omega) const

bool	GetWorldRotationDeriv (int i, int j, Matrix3 &dR) const

bool	GetWorldRotationDeriv_Moment (int i, int j, Vector3 &dm) const

bool	GetWorldRotationDeriv_Moment (int i, int j, const Vector3 &m, Vector3 &dm) const

bool	GetJacobian (const Vector3 &pi, int i, int j, Vector3 &dw, Vector3 &dv) const

bool	GetOrientationJacobian (int i, int j, Vector3 &dw) const

bool	GetPositionJacobian (const Vector3 &pi, int i, int j, Vector3 &dv) const

void	GetFullJacobian (const Vector3 &pi, int i, Matrix &J) const

void	GetPositionJacobian (const Vector3 &pi, int i, Matrix &J) const

Public Member Functions inherited from Chain
bool	HasValidOrdering () const

bool	IsAncestor (int n, int p) const
	Returns true if p is an ancestor of n.

bool	IsDescendent (int n, int c) const
	Returns true if c is a descendant of n.

int	LCA (int a, int b) const
	Least common ancestor.

void	GetChildList (std::vector< std::vector< int > > &children) const
	Returns a vector where element i is a vectors of the children of link i.

void	GetAncestors (int k, std::vector< bool > &ancestors) const
	Returns a vector where element i is true if it is an ancestor of n.

void	GetDescendants (int k, std::vector< bool > &descendants) const
	Returns a vector where element i is true if it is an descendant of n.

Public Attributes
std::vector< Link >	links

Vector	q

Vector	qMin

Vector	qMax

Public Attributes inherited from Chain
std::vector< int >	parents
	Topologically sorted list of parents.

Additional Inherited Members
Public Types inherited from Chain
enum	{ NoParent = -1 }

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

KinematicChain3D.h

Public Member Functions

Public Attributes

Additional Inherited Members