int |
MultiBodyTree.addBody(int body_index,
int parent_index,
int joint_type,
SWIGTYPE_p_vec3 parent_r_parent_body_ref,
SWIGTYPE_p_mat33 body_T_parent_ref,
SWIGTYPE_p_vec3 body_axis_of_motion,
float mass,
SWIGTYPE_p_vec3 body_r_body_com,
SWIGTYPE_p_mat33 body_I_body,
int user_int,
long user_ptr) |
static void |
InverseDynamics.bodyTParentFromAxisAngle(SWIGTYPE_p_vec3 axis,
float angle,
SWIGTYPE_p_mat33 T) |
static float |
InverseDynamics.determinant(SWIGTYPE_p_mat33 m) |
int |
MultiBodyTree.getBodySecondMassMoment(int body_index,
SWIGTYPE_p_mat33 second_mass_moment) |
int |
MultiBodyTree.getBodyTParentRef(int body_index,
SWIGTYPE_p_mat33 T) |
int |
MultiBodyTree.getBodyTransform(int body_index,
SWIGTYPE_p_mat33 world_T_body) |
static void |
InverseDynamics.getVecMatFromDH(float theta,
float d,
float a,
float alpha,
SWIGTYPE_p_vec3 r,
SWIGTYPE_p_mat33 T) |
static boolean |
InverseDynamics.isPositiveDefinite(SWIGTYPE_p_mat33 m) |
static boolean |
InverseDynamics.isPositiveSemiDefinite(SWIGTYPE_p_mat33 m) |
static boolean |
InverseDynamics.isPositiveSemiDefiniteFuzzy(SWIGTYPE_p_mat33 m) |
static boolean |
InverseDynamics.isValidInertiaMatrix(SWIGTYPE_p_mat33 I,
int index,
boolean has_fixed_joint) |
static boolean |
InverseDynamics.isValidTransformMatrix(SWIGTYPE_p_mat33 m) |
static SWIGTYPE_p_vec3 |
InverseDynamics.rpyFromMatrix(SWIGTYPE_p_mat33 rot) |
int |
MultiBodyTree.setBodySecondMassMoment(int body_index,
SWIGTYPE_p_mat33 second_mass_moment) |
static void |
InverseDynamics.setZero(SWIGTYPE_p_mat33 m) |
static void |
InverseDynamics.skew(SWIGTYPE_p_vec3 v,
SWIGTYPE_p_mat33 result) |