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) |
int |
MultiBodyTree.addUserForce(int body_index,
SWIGTYPE_p_vec3 body_force) |
int |
MultiBodyTree.addUserMoment(int body_index,
SWIGTYPE_p_vec3 body_moment) |
static void |
InverseDynamics.bodyTParentFromAxisAngle(SWIGTYPE_p_vec3 axis,
float angle,
SWIGTYPE_p_mat33 T) |
int |
MultiBodyTree.getBodyAngularAcceleration(int body_index,
SWIGTYPE_p_vec3 world_dot_omega) |
int |
MultiBodyTree.getBodyAngularVelocity(int body_index,
SWIGTYPE_p_vec3 world_omega) |
int |
MultiBodyTree.getBodyAxisOfMotion(int body_index,
SWIGTYPE_p_vec3 axis) |
int |
MultiBodyTree.getBodyCoM(int body_index,
SWIGTYPE_p_vec3 world_com) |
int |
MultiBodyTree.getBodyFirstMassMoment(int body_index,
SWIGTYPE_p_vec3 first_mass_moment) |
int |
MultiBodyTree.getBodyLinearAcceleration(int body_index,
SWIGTYPE_p_vec3 world_acceleration) |
int |
MultiBodyTree.getBodyLinearVelocity(int body_index,
SWIGTYPE_p_vec3 world_velocity) |
int |
MultiBodyTree.getBodyLinearVelocityCoM(int body_index,
SWIGTYPE_p_vec3 world_velocity) |
int |
MultiBodyTree.getBodyOrigin(int body_index,
SWIGTYPE_p_vec3 world_origin) |
int |
MultiBodyTree.getParentRParentBodyRef(int body_index,
SWIGTYPE_p_vec3 r) |
static void |
InverseDynamics.getVecMatFromDH(float theta,
float d,
float a,
float alpha,
SWIGTYPE_p_vec3 r,
SWIGTYPE_p_mat33 T) |
static boolean |
InverseDynamics.isUnitVector(SWIGTYPE_p_vec3 vector) |
static float |
InverseDynamics.maxAbs(SWIGTYPE_p_vec3 v) |
int |
MultiBodyTree.setBodyFirstMassMoment(int body_index,
SWIGTYPE_p_vec3 first_mass_moment) |
int |
MultiBodyTree.setGravityInWorldFrame(SWIGTYPE_p_vec3 gravity) |
static void |
InverseDynamics.setZero(SWIGTYPE_p_vec3 v) |
static void |
InverseDynamics.skew(SWIGTYPE_p_vec3 v,
SWIGTYPE_p_mat33 result) |
static SWIGTYPE_p_mat33 |
InverseDynamics.tildeOperator(SWIGTYPE_p_vec3 v) |