This is the core of the musculoskeletal model in biorbd. More...

#include <Joints.h>

Inheritance diagram for biorbd::rigidbody::Joints:

Public Member Functions
	Joints ()
	Construct a joint model.

	Joints (const biorbd::rigidbody::Joints &other)
	Construct a joint model from another model. More...

virtual	~Joints ()
	Properly destroy class.

biorbd::rigidbody::Joints	DeepCopy () const
	Deep copy of the joints. More...

void	DeepCopy (const biorbd::rigidbody::Joints &other)
	Deep copy of the joints. More...

unsigned int	AddSegment (const biorbd::utils::String &segmentName, const biorbd::utils::String &parentName, const biorbd::utils::String &translationSequence, const biorbd::utils::String &rotationSequence, const std::vector< biorbd::utils::Range > &QRanges, const std::vector< biorbd::utils::Range > &QDotRanges, const std::vector< biorbd::utils::Range > &QDDotRanges, const biorbd::rigidbody::SegmentCharacteristics &characteristics, const RigidBodyDynamics::Math::SpatialTransform &centreOfRotation, int forcePlates=-1)
	Add a segment to the model. More...

unsigned int	AddSegment (const biorbd::utils::String &segmentName, const biorbd::utils::String &parentName, const biorbd::utils::String &translationSequence, const std::vector< biorbd::utils::Range > &QRanges, const std::vector< biorbd::utils::Range > &QDotRanges, const std::vector< biorbd::utils::Range > &QDDotRanges, const biorbd::rigidbody::SegmentCharacteristics &characteristics, const RigidBodyDynamics::Math::SpatialTransform &centreOfRotation, int forcePlates=-1)
	Add a segment to the model. More...

biorbd::utils::Vector3d	getGravity () const
	Get the current gravity. More...

void	setGravity (const biorbd::utils::Vector3d &newGravity)
	Set the gravity. More...

int	GetBodyBiorbdId (const biorbd::utils::String &segmentName) const
	Return the biorbd body identification. More...

unsigned int	nbGeneralizedTorque () const
	Return the number of generalized torque. More...

unsigned int	nbSegment () const
	Return the actual number of segment. More...

unsigned int	nbDof () const
	Return the number of degrees of freedom (DoF) More...

unsigned int	getDofIndex (const biorbd::utils::String &SegmentName, const biorbd::utils::String &dofName)
	Return the index of a DoF in a segment. More...

std::vector< biorbd::utils::String >	nameDof () const
	Return the names of the degree of freedom (DoF) More...

unsigned int	nbQ () const
	Return the number of generalized coordinates (Q) More...

unsigned int	nbQdot () const
	Return the number of generalized velocities (Qdot) More...

unsigned int	nbQddot () const
	Return the number of generalized acceleration (Qddot) More...

unsigned int	nbRoot () const
	Return the dof on the root. More...

unsigned int	nbQuat () const
	Return the number of segments that are described using quaternions. More...

const biorbd::rigidbody::Segment &	segment (unsigned int idx) const
	Get a segment of index idx. More...

const biorbd::rigidbody::Segment &	segment (const biorbd::utils::String &name) const
	Get a segment of a specific name. More...

std::vector< RigidBodyDynamics::Math::SpatialVector >	dispatchedForce (std::vector< std::vector< biorbd::utils::SpatialVector >> &spatialVector, unsigned int frame) const
	Dispatch the forces from the force plate in a vector. More...

std::vector< RigidBodyDynamics::Math::SpatialVector >	dispatchedForce (std::vector< biorbd::utils::SpatialVector > &sv) const
	Dispatch the forces from the force plate in a spatial vector. More...

void	UpdateKinematicsCustom (const biorbd::rigidbody::GeneralizedCoordinates Q=nullptr, const biorbd::rigidbody::GeneralizedVelocity Qdot=nullptr, const biorbd::rigidbody::GeneralizedAcceleration *Qddot=nullptr)
	Update the kinematic variables such as body velocities and accelerations in the model to reflect the variables passed to this function. More...

std::vector< biorbd::utils::RotoTrans >	allGlobalJCS (const biorbd::rigidbody::GeneralizedCoordinates &Q)
	Return the joint coordinate system (JCS) in global reference frame at a given Q. More...

std::vector< biorbd::utils::RotoTrans >	allGlobalJCS () const
	Return the joint coordinate system (JCS) in global reference frame at a given Q. More...

biorbd::utils::RotoTrans	globalJCS (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::utils::String &name)
	Return the joint coordinate system (JCS) for the segment in global reference frame at a given Q. More...

biorbd::utils::RotoTrans	globalJCS (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int idx)
	Return the joint coordinate system (JCS) for the segment idx in global reference frame at a given Q. More...

biorbd::utils::RotoTrans	globalJCS (const biorbd::utils::String &name) const
	Return the joint coordinate system (JCS) for the segment in global reference. More...

biorbd::utils::RotoTrans	globalJCS (unsigned int idx) const
	Return the joint coordinate system (JCS) for the segment idx in global reference. More...

std::vector< biorbd::utils::RotoTrans >	localJCS () const
	Return all the joint coordinate system (JCS) in its parent reference frame. More...

biorbd::utils::RotoTrans	localJCS (const biorbd::utils::String &name) const
	Return the joint coordinate system (JCS) of the segment its parent reference frame. More...

biorbd::utils::RotoTrans	localJCS (const unsigned int idx) const
	Return the joint coordinate system (JCS) of the segment idx its parent reference frame. More...

biorbd::rigidbody::NodeSegment	projectPoint (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::utils::Vector3d &v, int segmentIdx, const biorbd::utils::String &axesToRemove, bool updateKin=true)
	Project a point on specific axis of a segment. More...

std::vector< biorbd::rigidbody::NodeSegment >	projectPoint (const biorbd::rigidbody::GeneralizedCoordinates &Q, const std::vector< biorbd::rigidbody::NodeSegment > &v, bool updateKin=true)
	Project multiples points on their respective segment. More...

biorbd::rigidbody::NodeSegment	projectPoint (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::NodeSegment &n, bool updateKin)
	Return the projected markers from a point corresponding to a marker from the model. More...

biorbd::utils::Matrix	projectPointJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, biorbd::rigidbody::NodeSegment p, bool updateKin)
	Return the jacobian matrix of the projected markers for a marker from the model. More...

biorbd::utils::Matrix	projectPointJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::utils::Vector3d &v, int segmentIdx, const biorbd::utils::String &axesToRemove, bool updateKin)
	Return the Jacobian matrix of a projected marker on the segment segmentIdx. More...

std::vector< biorbd::utils::Matrix >	projectPointJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, const std::vector< biorbd::rigidbody::NodeSegment > &v, bool updateKin)
	Return the jacobian matrix of the projected markers. More...

double	mass () const
	Return the total mass of the model. More...

biorbd::utils::Vector3d	CoM (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the position of the center of mass. More...

std::vector< biorbd::rigidbody::NodeSegment >	CoMbySegment (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the position of the center of mass of each segment. More...

biorbd::utils::Matrix	CoMbySegmentInMatrix (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the position of the center of mass of each segment in a matrix. More...

biorbd::utils::Vector3d	CoMbySegment (const biorbd::rigidbody::GeneralizedCoordinates &Q, const unsigned int idx, bool updateKin=true)
	Return the position of the center of mass of segment idx. More...

biorbd::utils::Vector3d	CoMdot (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot)
	Return the velocity of the center of mass. More...

biorbd::utils::Vector3d	CoMddot (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, const biorbd::rigidbody::GeneralizedAcceleration &Qddot)
	Return the acceleration of the center of mass. More...

std::vector< biorbd::utils::Vector3d >	CoMdotBySegment (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, bool updateKin=true)
	Return the velocity of the center of mass of each segment. More...

biorbd::utils::Vector3d	CoMdotBySegment (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, const unsigned int idx, bool updateKin=true)
	Return the velocity of the center of mass of segment idx. More...

std::vector< biorbd::utils::Vector3d >	CoMddotBySegment (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, const biorbd::rigidbody::GeneralizedAcceleration &Qddot, bool updateKin=true)
	Return the acceleration of the center of mass of each segment. More...

biorbd::utils::Vector3d	CoMddotBySegment (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, const biorbd::rigidbody::GeneralizedAcceleration &Qddot, const unsigned int idx, bool updateKin=true)
	Return the acceleration of the center of mass of segment idx. More...

biorbd::utils::Matrix	CoMJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q)
	Return the jacobian matrix of the center of mass. More...

std::vector< std::vector< biorbd::utils::Vector3d > >	meshPoints (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the vertices of the mesh for all segments in global reference frame. More...

std::vector< biorbd::utils::Vector3d >	meshPoints (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int idx, bool updateKin=true)
	Return the vertices of the mesh for the segment idx. More...

std::vector< biorbd::utils::Matrix >	meshPointsInMatrix (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return all the vertices of the mesh points in a matrix. More...

std::vector< std::vector< MeshFace > >	meshFaces () const
	Return the mesh faces for all the segments. More...

const std::vector< biorbd::rigidbody::MeshFace > &	meshFaces (unsigned int idx) const
	Return the mesh faces for segment idx. More...

std::vector< biorbd::rigidbody::Mesh >	mesh () const
	Return the segment mesh. More...

const biorbd::rigidbody::Mesh &	mesh (unsigned int idx) const
	Return the segment mesh for segment idx. More...

biorbd::utils::Vector3d	angularMomentum (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, bool updateKin=true)
	Calculate the angular momentum of the center of mass. More...

biorbd::utils::Matrix	massMatrix (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Get the mass matrix at a given position Q. More...

biorbd::utils::Vector3d	CalcAngularMomentum (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, bool updateKin)
	Calculate the angular momentum of the center of mass. More...

biorbd::utils::Vector3d	CalcAngularMomentum (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, const biorbd::rigidbody::GeneralizedAcceleration &Qddot, bool updateKin)
	Calculate the angular momentum of the center of mass. More...

std::vector< biorbd::utils::Vector3d >	CalcSegmentsAngularMomentum (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, bool updateKin)
	Calculate the segment center of mass angular momentum. More...

std::vector< biorbd::utils::Vector3d >	CalcSegmentsAngularMomentum (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &Qdot, const biorbd::rigidbody::GeneralizedAcceleration &Qddot, bool updateKin)
	Calculate the segment center of mass angular momentum. More...

void	CalcMatRotJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int segmentIdx, const RigidBodyDynamics::Math::Matrix3d &rotation, RigidBodyDynamics::Math::MatrixNd &G, bool updateKin)
	Calculate the jacobian matrix of a rotation matrix. More...

biorbd::rigidbody::GeneralizedVelocity	computeQdot (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedCoordinates &QDot, const double k_stab=1)
	Return the derivate of Q in function of Qdot (if not Quaternion, Qdot is directly returned) More...

biorbd::rigidbody::GeneralizedTorque	InverseDynamics (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot, const biorbd::rigidbody::GeneralizedAcceleration &QDDot, std::vector< biorbd::utils::SpatialVector > *f_ext=nullptr)
	Interface for the inverse dynamics of RBDL. More...

biorbd::rigidbody::GeneralizedAcceleration	ForwardDynamics (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot, const biorbd::rigidbody::GeneralizedTorque &Tau, std::vector< biorbd::utils::SpatialVector > *f_ext=nullptr)
	Interface for the forward dynamics of RBDL. More...

biorbd::rigidbody::GeneralizedAcceleration	ForwardDynamicsConstraintsDirect (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot, const biorbd::rigidbody::GeneralizedTorque &Tau, biorbd::rigidbody::Contacts &CS, std::vector< biorbd::utils::SpatialVector > *f_ext=nullptr)
	Interface for the forward dynamics with contact of RBDL. More...

biorbd::utils::Vector	ContactForcesFromForwardDynamicsConstraintsDirect (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot, const biorbd::rigidbody::GeneralizedTorque &Tau, std::vector< biorbd::utils::SpatialVector > *f_ext=nullptr)
	Interface for contacts of the forward dynamics with contact of RBDL. More...

biorbd::rigidbody::GeneralizedAcceleration	ForwardDynamicsConstraintsDirect (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDot, const biorbd::rigidbody::GeneralizedTorque &Tau, std::vector< biorbd::utils::SpatialVector > *f_ext=nullptr)
	Interface for the forward dynamics with contact of RBDL. More...

biorbd::rigidbody::GeneralizedVelocity	ComputeConstraintImpulsesDirect (const biorbd::rigidbody::GeneralizedCoordinates &Q, const biorbd::rigidbody::GeneralizedVelocity &QDotPre)
	Compute the QDot post from an impact. More...

void	checkGeneralizedDimensions (const biorbd::rigidbody::GeneralizedCoordinates Q=nullptr, const biorbd::rigidbody::GeneralizedVelocity Qdot=nullptr, const biorbd::rigidbody::GeneralizedAcceleration Qddot=nullptr, const biorbd::rigidbody::GeneralizedTorque torque=nullptr)
	Check for the Generalized coordinates, velocities, acceleration and torque dimensions. More...

Protected Member Functions
RigidBodyDynamics::Math::SpatialTransform	CalcBodyWorldTransformation (const biorbd::rigidbody::GeneralizedCoordinates &Q, const unsigned int segmentIdx, bool updateKin=true)
	Calculate the joint coordinate system (JCS) in global reference frame of a specified segment. More...

RigidBodyDynamics::Math::SpatialTransform	CalcBodyWorldTransformation (const unsigned int segmentIdx) const
	Calculate the joint coordinate system (JCS) in global of a specified segment. More...

std::vector< biorbd::utils::Vector3d >	meshPoints (const std::vector< biorbd::utils::RotoTrans > &RT, unsigned int idx) const
	Return the mesh vertices of segment idx. More...

Protected Attributes
std::shared_ptr< std::vector< biorbd::rigidbody::Segment > >	m_segments
	All the articulations.

std::shared_ptr< unsigned int >	m_nbRoot
	The number of DoF on the root segment.

std::shared_ptr< unsigned int >	m_nbDof
	The total number of degrees of freedom

std::shared_ptr< unsigned int >	m_nbQ
	The total number of Q.

std::shared_ptr< unsigned int >	m_nbQdot
	The total number of Qdot.

std::shared_ptr< unsigned int >	m_nbQddot
	The total number of Qddot.

std::shared_ptr< unsigned int >	m_nRotAQuat
	The number of segments per quaternion.

std::shared_ptr< bool >	m_isKinematicsComputed
	If the kinematics are computed.

std::shared_ptr< double >	m_totalMass
	Mass of all the bodies combined.

Detailed Description

This is the core of the musculoskeletal model in biorbd.

Definition at line 38 of file Joints.h.

Constructor & Destructor Documentation

◆ Joints()

biorbd::rigidbody::Joints::Joints ( const biorbd::rigidbody::Joints & other )

Construct a joint model from another model.

Parameters

other The other joint model

Definition at line 41 of file Joints.cpp.

Member Function Documentation

◆ AddSegment() [1/2]

unsigned int biorbd::rigidbody::Joints::AddSegment	(	const biorbd::utils::String &	segmentName,
		const biorbd::utils::String &	parentName,
		const biorbd::utils::String &	translationSequence,
		const biorbd::utils::String &	rotationSequence,
		const std::vector< biorbd::utils::Range > &	QRanges,
		const std::vector< biorbd::utils::Range > &	QDotRanges,
		const std::vector< biorbd::utils::Range > &	QDDotRanges,
		const biorbd::rigidbody::SegmentCharacteristics &	characteristics,
		const RigidBodyDynamics::Math::SpatialTransform &	centreOfRotation,
		int	forcePlates = `-1`
	)

Add a segment to the model.

Parameters

segmentName	Name of the segment
parentName	Name of the segment parent
translationSequence	The translation sequence
rotationSequence	Euler sequence of rotations
QRanges	Ranges of the translations and rotations dof. The length of QRanges must be equal to length of translations and rotations
QDotRanges	Ranges of the translations and rotations dof velocity. The length of QDotRanges must be equal to length of translations and rotations
QDDotRanges	Ranges of the translations and rotations dof acceleration. The length of QDDotRanges must be equal to length of translations and rotations
characteristics	The characteristics of the semgent (mass, center of mass, inertia of the segment, etc)
centreOfRotation	Transformation of the parent to child
forcePlates	The number of the force platform attached to the Segment (if -1 no force platform is attached)

Definition at line 125 of file Joints.cpp.

◆ AddSegment() [2/2]

unsigned int biorbd::rigidbody::Joints::AddSegment	(	const biorbd::utils::String &	segmentName,
		const biorbd::utils::String &	parentName,
		const biorbd::utils::String &	translationSequence,
		const std::vector< biorbd::utils::Range > &	QRanges,
		const std::vector< biorbd::utils::Range > &	QDotRanges,
		const std::vector< biorbd::utils::Range > &	QDDotRanges,
		const biorbd::rigidbody::SegmentCharacteristics &	characteristics,
		const RigidBodyDynamics::Math::SpatialTransform &	centreOfRotation,
		int	forcePlates = `-1`
	)

Add a segment to the model.

Parameters

segmentName	Name of the segment
parentName	Name of the segment parent
translationSequence	The translation sequence
QRanges	Ranges of the translations and rotations dof. The length of QRanges must be equal to length of translations and rotations
QDotRanges	Ranges of the translations and rotations dof velocity. The length of QDotRanges must be equal to length of translations and rotations
QDDotRanges	Ranges of the translations and rotations dof acceleration. The length of QDDotRanges must be equal to length of translations and rotations
characteristics	The characteristics of the semgent (mass, center of mass, inertia of the segment, etc)
centreOfRotation	Transformation of the parent to child
forcePlates	The number of the force platform attached to the Segment (if -1 no force platform is attached)

Definition at line 155 of file Joints.cpp.

◆ allGlobalJCS() [1/2]

std::vector< biorbd::utils::RotoTrans > biorbd::rigidbody::Joints::allGlobalJCS ( ) const

Return the joint coordinate system (JCS) in global reference frame at a given Q.

Returns: The JCS in global reference frame

This function assumes kinematics has been already updated

Definition at line 259 of file Joints.cpp.

◆ allGlobalJCS() [2/2]

std::vector< biorbd::utils::RotoTrans > biorbd::rigidbody::Joints::allGlobalJCS ( const biorbd::rigidbody::GeneralizedCoordinates & Q )

Return the joint coordinate system (JCS) in global reference frame at a given Q.

Parameters

Q	The generalized coordinates

Returns: The JCS in global reference frame at a given Q

Definition at line 252 of file Joints.cpp.

◆ angularMomentum()

biorbd::utils::Vector3d biorbd::rigidbody::Joints::angularMomentum	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		bool	updateKin = `true`
	)

Calculate the angular momentum of the center of mass.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
updateKin	If the kinematics of the model should be computed

Returns: The angular momentum of the center of mass

Definition at line 488 of file Joints.cpp.

◆ CalcAngularMomentum() [1/2]

biorbd::utils::Vector3d biorbd::rigidbody::Joints::CalcAngularMomentum	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		bool	updateKin
	)

Calculate the angular momentum of the center of mass.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
updateKin	If the kinematics of the model should be computed

Returns: The angular momentum of the center of mass

Definition at line 777 of file Joints.cpp.

◆ CalcAngularMomentum() [2/2]

biorbd::utils::Vector3d biorbd::rigidbody::Joints::CalcAngularMomentum	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		const biorbd::rigidbody::GeneralizedAcceleration &	Qddot,
		bool	updateKin
	)

Calculate the angular momentum of the center of mass.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The generalized accelerations
updateKin	If the kinematics of the model should be computed

Returns: The angular momentum of the center of mass

Definition at line 795 of file Joints.cpp.

◆ CalcBodyWorldTransformation() [1/2]

RigidBodyDynamics::Math::SpatialTransform biorbd::rigidbody::Joints::CalcBodyWorldTransformation	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const unsigned int	segmentIdx,
		bool	updateKin = `true`
	)

protected

Calculate the joint coordinate system (JCS) in global reference frame of a specified segment.

Parameters

Q	The generalized coordinates
segmentIdx	The index of the segment
updateKin	If the kinematics of the model should be computed

Returns: The JCS of the segment in global reference frame

Definition at line 433 of file Joints.cpp.

◆ CalcBodyWorldTransformation() [2/2]

RigidBodyDynamics::Math::SpatialTransform biorbd::rigidbody::Joints::CalcBodyWorldTransformation ( const unsigned int segmentIdx ) const

protected

Calculate the joint coordinate system (JCS) in global of a specified segment.

Parameters

segmentIdx The index of the segment

Returns: The JCS in global

This function assumes that the kinematics was previously updated

Definition at line 445 of file Joints.cpp.

◆ CalcMatRotJacobian()

void biorbd::rigidbody::Joints::CalcMatRotJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	segmentIdx,
		const RigidBodyDynamics::Math::Matrix3d &	rotation,
		RigidBodyDynamics::Math::MatrixNd &	G,
		bool	updateKin
	)

Calculate the jacobian matrix of a rotation matrix.

Parameters

Q	The generalized coordinates
segmentIdx	The index of the segment
rotation	The rotation matrix
G	The jacobian matrix (output)
updateKin	If the kinematics of the model should be computed

Definition at line 1072 of file Joints.cpp.

◆ CalcSegmentsAngularMomentum() [1/2]

std::vector< biorbd::utils::Vector3d > biorbd::rigidbody::Joints::CalcSegmentsAngularMomentum	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		bool	updateKin
	)

Calculate the segment center of mass angular momentum.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
updateKin	If the kinematics of the model should be computed

Returns: The segments center of mass angular momentum

Definition at line 817 of file Joints.cpp.

◆ CalcSegmentsAngularMomentum() [2/2]

std::vector< biorbd::utils::Vector3d > biorbd::rigidbody::Joints::CalcSegmentsAngularMomentum	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		const biorbd::rigidbody::GeneralizedAcceleration &	Qddot,
		bool	updateKin
	)

Calculate the segment center of mass angular momentum.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The generalized accelerations
updateKin	If the kinematics of the model should be computed

Returns: The segments center of mass angular momentum

Definition at line 853 of file Joints.cpp.

◆ checkGeneralizedDimensions()

void biorbd::rigidbody::Joints::checkGeneralizedDimensions	(	const biorbd::rigidbody::GeneralizedCoordinates *	Q = `nullptr`,
		const biorbd::rigidbody::GeneralizedVelocity *	Qdot = `nullptr`,
		const biorbd::rigidbody::GeneralizedAcceleration *	Qddot = `nullptr`,
		const biorbd::rigidbody::GeneralizedTorque *	torque = `nullptr`
	)

Check for the Generalized coordinates, velocities, acceleration and torque dimensions.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The generalized accelerations
torque	The generalized torques

Definition at line 1136 of file Joints.cpp.

◆ CoM()

biorbd::utils::Vector3d biorbd::rigidbody::Joints::CoM	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return the position of the center of mass.

Parameters

Q	The generalized coordinates
updateKin	If the kinematics of the model should be computed

Returns: The position of the center of mass

Definition at line 464 of file Joints.cpp.

◆ CoMbySegment() [1/2]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Joints::CoMbySegment	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return the position of the center of mass of each segment.

Parameters

Q	The generalized coordinates
updateKin	If the kinematics of the model should be computed

Returns: The position of the center of mass of each segment

Definition at line 576 of file Joints.cpp.

◆ CoMbySegment() [2/2]

biorbd::utils::Vector3d biorbd::rigidbody::Joints::CoMbySegment	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const unsigned int	idx,
		bool	updateKin = `true`
	)

Return the position of the center of mass of segment idx.

Parameters

Q	The generalized coordinates
idx	The index of the segment
updateKin	If the kinematics of the model should be computed

Returns: The position of the center of mass of segment idx

Definition at line 603 of file Joints.cpp.

◆ CoMbySegmentInMatrix()

biorbd::utils::Matrix biorbd::rigidbody::Joints::CoMbySegmentInMatrix	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return the position of the center of mass of each segment in a matrix.

Parameters

Q	The generalized coordinates
updateKin	If the kinematics of the model should be computed

Returns: The position of the center of mass of each segment

Definition at line 590 of file Joints.cpp.

◆ CoMddot()

biorbd::utils::Vector3d biorbd::rigidbody::Joints::CoMddot	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		const biorbd::rigidbody::GeneralizedAcceleration &	Qddot
	)

Return the acceleration of the center of mass.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The acceleration variables

Returns: The acceleration of the center of mass

Definition at line 531 of file Joints.cpp.

◆ CoMddotBySegment() [1/2]

std::vector< biorbd::utils::Vector3d > biorbd::rigidbody::Joints::CoMddotBySegment	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		const biorbd::rigidbody::GeneralizedAcceleration &	Qddot,
		bool	updateKin = `true`
	)

Return the acceleration of the center of mass of each segment.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The acceleration variables
updateKin	If the kinematics of the model should be computed

Returns: The acceleration of the center of mass of each segment

Definition at line 648 of file Joints.cpp.

◆ CoMddotBySegment() [2/2]

biorbd::utils::Vector3d biorbd::rigidbody::Joints::CoMddotBySegment	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		const biorbd::rigidbody::GeneralizedAcceleration &	Qddot,
		const unsigned int	idx,
		bool	updateKin = `true`
	)

Return the acceleration of the center of mass of segment idx.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The acceleration variables
idx	The segment identification
updateKin	If the kinematics of the model should be computed

Returns: The acceleration of the center of mass of segment idx

Definition at line 666 of file Joints.cpp.

◆ CoMdot()

biorbd::utils::Vector3d biorbd::rigidbody::Joints::CoMdot	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot
	)

Return the velocity of the center of mass.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities

Returns: The velocity of the center of mass

Definition at line 506 of file Joints.cpp.

◆ CoMdotBySegment() [1/2]

std::vector< biorbd::utils::Vector3d > biorbd::rigidbody::Joints::CoMdotBySegment	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		bool	updateKin = `true`
	)

Return the velocity of the center of mass of each segment.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
updateKin	If the kinematics of the model should be computed

Returns: The velocity of the center of mass of each segment

Definition at line 618 of file Joints.cpp.

◆ CoMdotBySegment() [2/2]

biorbd::utils::Vector3d biorbd::rigidbody::Joints::CoMdotBySegment	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	Qdot,
		const unsigned int	idx,
		bool	updateKin = `true`
	)

Return the velocity of the center of mass of segment idx.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
idx	The index of the segment
updateKin	If the kinematics of the model should be computed

Returns: The velocity of the center of mass of segment idx

Definition at line 635 of file Joints.cpp.

◆ CoMJacobian()

biorbd::utils::Matrix biorbd::rigidbody::Joints::CoMJacobian ( const biorbd::rigidbody::GeneralizedCoordinates & Q )

Return the jacobian matrix of the center of mass.

Parameters

Q	The generalized coordinates

Returns: The jacobian matrix of the center of mass

Definition at line 547 of file Joints.cpp.

◆ ComputeConstraintImpulsesDirect()

biorbd::rigidbody::GeneralizedVelocity biorbd::rigidbody::Joints::ComputeConstraintImpulsesDirect	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDotPre
	)

Compute the QDot post from an impact.

Parameters

Q	The Generalized Coordinates
QDotPre	The Generalized Velocities before impact

Returns: The Generalized Velocities post acceleration

Definition at line 1020 of file Joints.cpp.

◆ computeQdot()

biorbd::rigidbody::GeneralizedVelocity biorbd::rigidbody::Joints::computeQdot	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedCoordinates &	QDot,
		const double	k_stab = `1`
	)

Return the derivate of Q in function of Qdot (if not Quaternion, Qdot is directly returned)

Parameters

Q	The generalized coordinates
QDot	The generalized velocities
k_stab

Returns: The derivate of Q in function of Qdot

Definition at line 892 of file Joints.cpp.

◆ ContactForcesFromForwardDynamicsConstraintsDirect()

biorbd::utils::Vector biorbd::rigidbody::Joints::ContactForcesFromForwardDynamicsConstraintsDirect	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot,
		const biorbd::rigidbody::GeneralizedTorque &	Tau,
		std::vector< biorbd::utils::SpatialVector > *	f_ext = `nullptr`
	)

Interface for contacts of the forward dynamics with contact of RBDL.

Parameters

Q	The Generalized Coordinates
QDot	The Generalized Velocities
Tau	The Generalized Torques
f_ext	External force acting on the system if there are any

Returns: The Contraint set

Definition at line 990 of file Joints.cpp.

◆ DeepCopy() [1/2]

biorbd::rigidbody::Joints biorbd::rigidbody::Joints::DeepCopy ( ) const

Deep copy of the joints.

Returns: Copy of the joints

Definition at line 61 of file Joints.cpp.

◆ DeepCopy() [2/2]

void biorbd::rigidbody::Joints::DeepCopy ( const biorbd::rigidbody::Joints & other )

Deep copy of the joints.

Parameters

other The joints to copy

Definition at line 68 of file Joints.cpp.

◆ dispatchedForce() [1/2]

std::vector< RigidBodyDynamics::Math::SpatialVector > biorbd::rigidbody::Joints::dispatchedForce ( std::vector< biorbd::utils::SpatialVector > & sv ) const

Dispatch the forces from the force plate in a spatial vector.

Parameters

sv	One spatial vector per force platform

Returns: A spatial vector with the forces

Definition at line 217 of file Joints.cpp.

◆ dispatchedForce() [2/2]

std::vector< RigidBodyDynamics::Math::SpatialVector > biorbd::rigidbody::Joints::dispatchedForce	(	std::vector< std::vector< biorbd::utils::SpatialVector >> &	spatialVector,
		unsigned int	frame
	)		const

Dispatch the forces from the force plate in a vector.

Parameters

spatialVector	The values over time of one spatial vector per force platform
frame	The frame to dispatch

Returns: A spatial vector with the forces

Definition at line 204 of file Joints.cpp.

◆ ForwardDynamics()

biorbd::rigidbody::GeneralizedAcceleration biorbd::rigidbody::Joints::ForwardDynamics	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot,
		const biorbd::rigidbody::GeneralizedTorque &	Tau,
		std::vector< biorbd::utils::SpatialVector > *	f_ext = `nullptr`
	)

Interface for the forward dynamics of RBDL.

Parameters

Q	The Generalized Coordinates
QDot	The Generalized Velocities
Tau	The Generalized Torques
f_ext	External force acting on the system if there are any

Returns: The Generalized Accelerations

Definition at line 953 of file Joints.cpp.

◆ ForwardDynamicsConstraintsDirect() [1/2]

biorbd::rigidbody::GeneralizedAcceleration biorbd::rigidbody::Joints::ForwardDynamicsConstraintsDirect	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot,
		const biorbd::rigidbody::GeneralizedTorque &	Tau,
		biorbd::rigidbody::Contacts &	CS,
		std::vector< biorbd::utils::SpatialVector > *	f_ext = `nullptr`
	)

Interface for the forward dynamics with contact of RBDL.

Parameters

Q	The Generalized Coordinates
QDot	The Generalized Velocities
Tau	The Generalized Torques
CS	The Constraint set that will be filled
f_ext	External force acting on the system if there are any

Returns: The Generalized Accelerations

Definition at line 971 of file Joints.cpp.

◆ ForwardDynamicsConstraintsDirect() [2/2]

biorbd::rigidbody::GeneralizedAcceleration biorbd::rigidbody::Joints::ForwardDynamicsConstraintsDirect	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot,
		const biorbd::rigidbody::GeneralizedTorque &	Tau,
		std::vector< biorbd::utils::SpatialVector > *	f_ext = `nullptr`
	)

Interface for the forward dynamics with contact of RBDL.

Parameters

Q	The Generalized Coordinates
QDot	The Generalized Velocities
Tau	The Generalized Torques
f_ext	External force acting on the system if there are any

Returns: The Generalized Accelerations

Definition at line 1001 of file Joints.cpp.

◆ GetBodyBiorbdId()

int biorbd::rigidbody::Joints::GetBodyBiorbdId ( const biorbd::utils::String & segmentName ) const

Return the biorbd body identification.

Parameters

segmentName The name of the segment

Returns: The biorbd body identification

Definition at line 245 of file Joints.cpp.

◆ getDofIndex()

unsigned int biorbd::rigidbody::Joints::getDofIndex	(	const biorbd::utils::String &	SegmentName,
		const biorbd::utils::String &	dofName
	)

Return the index of a DoF in a segment.

Parameters

SegmentName	The name of the Segment
dofName	The name of the degree of freedom (DoF)

Returns: The index of a DoF in a segment

Definition at line 1037 of file Joints.cpp.

◆ getGravity()

biorbd::utils::Vector3d biorbd::rigidbody::Joints::getGravity ( ) const

Get the current gravity.

Returns: The current gravity

Definition at line 178 of file Joints.cpp.

◆ globalJCS() [1/4]

biorbd::utils::RotoTrans biorbd::rigidbody::Joints::globalJCS	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::utils::String &	name
	)

Return the joint coordinate system (JCS) for the segment in global reference frame at a given Q.

Parameters

Q	The generalized coordinates
name	The name of the segment

Returns: The JCS of the segment in global reference frame at a given Q

Definition at line 267 of file Joints.cpp.

◆ globalJCS() [2/4]

biorbd::utils::RotoTrans biorbd::rigidbody::Joints::globalJCS	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	idx
	)

Return the joint coordinate system (JCS) for the segment idx in global reference frame at a given Q.

Parameters

Q	The generalized coordinates
idx	The index of the segment

Returns: The JCS of the segment idx in global reference frame at a given Q

Definition at line 275 of file Joints.cpp.

◆ globalJCS() [3/4]

biorbd::utils::RotoTrans biorbd::rigidbody::Joints::globalJCS ( const biorbd::utils::String & name ) const

Return the joint coordinate system (JCS) for the segment in global reference.

Parameters

name	The name of the segment

Returns: The JCS of the segment in global reference frame

This function assumes kinematics has been already updated

Definition at line 284 of file Joints.cpp.

◆ globalJCS() [4/4]

biorbd::utils::RotoTrans biorbd::rigidbody::Joints::globalJCS ( unsigned int idx ) const

Return the joint coordinate system (JCS) for the segment idx in global reference.

Parameters

idx	The index of the segment

Returns: The JCS of the segment idx in global reference frame

This function assumes kinematics has been already updated

Definition at line 289 of file Joints.cpp.

◆ InverseDynamics()

biorbd::rigidbody::GeneralizedTorque biorbd::rigidbody::Joints::InverseDynamics	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::GeneralizedVelocity &	QDot,
		const biorbd::rigidbody::GeneralizedAcceleration &	QDDot,
		std::vector< biorbd::utils::SpatialVector > *	f_ext = `nullptr`
	)

Interface for the inverse dynamics of RBDL.

Parameters

Q	The Generalized Coordinates
QDot	The Generalized Velocities
QDDot	The Generalzed Acceleration
f_ext	External force acting on the system if there are any

Returns: The Generalized Torques

Definition at line 935 of file Joints.cpp.

◆ localJCS() [1/3]

std::vector< biorbd::utils::RotoTrans > biorbd::rigidbody::Joints::localJCS ( ) const

Return all the joint coordinate system (JCS) in its parent reference frame.

Returns: All the JCS in parent reference frame

Definition at line 295 of file Joints.cpp.

◆ localJCS() [2/3]

biorbd::utils::RotoTrans biorbd::rigidbody::Joints::localJCS ( const biorbd::utils::String & name ) const

Return the joint coordinate system (JCS) of the segment its parent reference frame.

Parameters

name	The name of the segment

Returns: The JCS of the segment in parent reference frame

Definition at line 303 of file Joints.cpp.

◆ localJCS() [3/3]

biorbd::utils::RotoTrans biorbd::rigidbody::Joints::localJCS ( const unsigned int idx ) const

Return the joint coordinate system (JCS) of the segment idx its parent reference frame.

Parameters

idx	The index of the segment

Returns: The JCS of the segment idx in parent reference frame

Definition at line 306 of file Joints.cpp.

◆ mass()

double biorbd::rigidbody::Joints::mass ( ) const

Return the total mass of the model.

Returns: The toal mass of the model

Definition at line 121 of file Joints.cpp.

◆ massMatrix()

biorbd::utils::Matrix biorbd::rigidbody::Joints::massMatrix	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Get the mass matrix at a given position Q.

Parameters

Q	The generalized coordinates
updateKin	If the kinematics should be updated

Returns: The mass matrix

Definition at line 496 of file Joints.cpp.

◆ mesh() [1/2]

std::vector< biorbd::rigidbody::Mesh > biorbd::rigidbody::Joints::mesh ( ) const

Return the segment mesh.

Returns: The segment mesh

Definition at line 764 of file Joints.cpp.

◆ mesh() [2/2]

const biorbd::rigidbody::Mesh & biorbd::rigidbody::Joints::mesh ( unsigned int idx ) const

Return the segment mesh for segment idx.

Parameters

idx	The index of the segment

Returns: The Segment mesh for segment idx

Definition at line 772 of file Joints.cpp.

◆ meshFaces() [1/2]

std::vector< std::vector< biorbd::rigidbody::MeshFace > > biorbd::rigidbody::Joints::meshFaces ( ) const

Return the mesh faces for all the segments.

Returns: The mesh faces for all the segments

Definition at line 752 of file Joints.cpp.

◆ meshFaces() [2/2]

const std::vector< biorbd::rigidbody::MeshFace > & biorbd::rigidbody::Joints::meshFaces ( unsigned int idx ) const

Return the mesh faces for segment idx.

Parameters

idx	The index of the segment

Returns: The mesh face for segment idx

Definition at line 759 of file Joints.cpp.

◆ meshPoints() [1/3]

std::vector< std::vector< biorbd::utils::Vector3d > > biorbd::rigidbody::Joints::meshPoints	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return the vertices of the mesh for all segments in global reference frame.

Parameters

Q	The generalized coordinates
updateKin	If the kinematics of the model should be computed

Returns: The vertices of the for all segments

Definition at line 682 of file Joints.cpp.

◆ meshPoints() [2/3]

std::vector< biorbd::utils::Vector3d > biorbd::rigidbody::Joints::meshPoints	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	idx,
		bool	updateKin = `true`
	)

Return the vertices of the mesh for the segment idx.

Parameters

Q	The generalized coordinates
idx	The index of the segment
updateKin	If the kinematics of the model should be computed

Returns: The vertices of the of the segment idx

Definition at line 700 of file Joints.cpp.

◆ meshPoints() [3/3]

std::vector< biorbd::utils::Vector3d > biorbd::rigidbody::Joints::meshPoints	(	const std::vector< biorbd::utils::RotoTrans > &	RT,
		unsigned int	idx
	)		const

protected

Return the mesh vertices of segment idx.

Parameters

RT	The RotoTrans of the segment
idx	The index of the segment

Returns: The mesh vertices attached to a segment idx

Definition at line 737 of file Joints.cpp.

◆ meshPointsInMatrix()

std::vector< biorbd::utils::Matrix > biorbd::rigidbody::Joints::meshPointsInMatrix	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Return all the vertices of the mesh points in a matrix.

Parameters

Q	The generalized coordinates
updateKin	If the kinematics of the model should be computed

Returns: All the vertices

Definition at line 716 of file Joints.cpp.

◆ nameDof()

std::vector< biorbd::utils::String > biorbd::rigidbody::Joints::nameDof ( ) const

Return the names of the degree of freedom (DoF)

Returns: The names of the DoF

Definition at line 91 of file Joints.cpp.

◆ nbDof()

unsigned int biorbd::rigidbody::Joints::nbDof ( ) const

Return the number of degrees of freedom (DoF)

Returns: The number of DoF

Definition at line 87 of file Joints.cpp.

◆ nbGeneralizedTorque()

unsigned int biorbd::rigidbody::Joints::nbGeneralizedTorque ( ) const

Return the number of generalized torque.

Returns: The number of generalized torque

Definition at line 84 of file Joints.cpp.

◆ nbQ()

unsigned int biorbd::rigidbody::Joints::nbQ ( ) const

Return the number of generalized coordinates (Q)

Returns: The number of Q

Definition at line 108 of file Joints.cpp.

◆ nbQddot()

unsigned int biorbd::rigidbody::Joints::nbQddot ( ) const

Return the number of generalized acceleration (Qddot)

Returns: The number of Qddot

Definition at line 114 of file Joints.cpp.

◆ nbQdot()

unsigned int biorbd::rigidbody::Joints::nbQdot ( ) const

Return the number of generalized velocities (Qdot)

Returns: The number of Qdot

Definition at line 111 of file Joints.cpp.

◆ nbQuat()

unsigned int biorbd::rigidbody::Joints::nbQuat ( ) const

Return the number of segments that are described using quaternions.

Returns: The number number of segments

Definition at line 888 of file Joints.cpp.

◆ nbRoot()

unsigned int biorbd::rigidbody::Joints::nbRoot ( ) const

Return the dof on the root.

Returns: The dof on the root

Definition at line 117 of file Joints.cpp.

◆ nbSegment()

unsigned int biorbd::rigidbody::Joints::nbSegment ( ) const

Return the actual number of segment.

Returns: The actual number of segment

Definition at line 199 of file Joints.cpp.

◆ projectPoint() [1/3]

biorbd::rigidbody::NodeSegment biorbd::rigidbody::Joints::projectPoint	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::rigidbody::NodeSegment &	n,
		bool	updateKin
	)

Return the projected markers from a point corresponding to a marker from the model.

Parameters

Q	The generalized coordinates
n	A reference to a marker from the model
updateKin	If the kinematics of the model should be computed

Returns: The projected markers from a point corresponding to a marker from the model

Definition at line 361 of file Joints.cpp.

◆ projectPoint() [2/3]

biorbd::rigidbody::NodeSegment biorbd::rigidbody::Joints::projectPoint	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::utils::Vector3d &	v,
		int	segmentIdx,
		const biorbd::utils::String &	axesToRemove,
		bool	updateKin = `true`
	)

Project a point on specific axis of a segment.

Parameters

Q	The generalized coordinates
v	The point to project
segmentIdx	The segment index to project the marker on
axesToRemove	The axis to remove
updateKin	If the kinematics of the model should be computed

Returns: The position of the projected marker

Definition at line 341 of file Joints.cpp.

◆ projectPoint() [3/3]

std::vector< biorbd::rigidbody::NodeSegment > biorbd::rigidbody::Joints::projectPoint	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const std::vector< biorbd::rigidbody::NodeSegment > &	v,
		bool	updateKin = `true`
	)

Project multiples points on their respective segment.

Parameters

Q	The generalized coordinates
v	All the points to project. The number of points must match the number of marker in the joint model
updateKin	If the kinematics of the model should be computed

Returns: The projected markers from points corresponding to markers from the model

Return projected markers from points corresponding to markers from the model. The vector needs to be equal to the number of markers and in the order given by Markers and in global coordinates

Definition at line 311 of file Joints.cpp.

◆ projectPointJacobian() [1/3]

biorbd::utils::Matrix biorbd::rigidbody::Joints::projectPointJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		biorbd::rigidbody::NodeSegment	p,
		bool	updateKin
	)

Return the jacobian matrix of the projected markers for a marker from the model.

Parameters

Q	The generalized coordinates
p	A reference to a marker from the model
updateKin	If the kinematics of the model should be computed

Returns: The jacobian matrix of the projected marker

Definition at line 370 of file Joints.cpp.

◆ projectPointJacobian() [2/3]

biorbd::utils::Matrix biorbd::rigidbody::Joints::projectPointJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const biorbd::utils::Vector3d &	v,
		int	segmentIdx,
		const biorbd::utils::String &	axesToRemove,
		bool	updateKin
	)

Return the Jacobian matrix of a projected marker on the segment segmentIdx.

Parameters

Q	The generalized coordinates
v	The marker to project
segmentIdx	The index of the segment to project the marker on
axesToRemove	The axes to remove
updateKin	If the kinematics of the model should be computed

Returns: The Jacobian matrix of a projected marker on the segment segmentIdx

Definition at line 401 of file Joints.cpp.

◆ projectPointJacobian() [3/3]

std::vector< biorbd::utils::Matrix > biorbd::rigidbody::Joints::projectPointJacobian	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		const std::vector< biorbd::rigidbody::NodeSegment > &	v,
		bool	updateKin
	)

Return the jacobian matrix of the projected markers.

Parameters

Q	The generalized coordinates
v	All the markers. The size of which must match the one in the joint model
updateKin	If the kinematics of the model should be computed

Returns: The jacobian matrix of the projected markers

Return the jacobian matrix of projected markers from points corresponding to markers from the model. The vector needs to be equal to the number of markers and in the order given by Markers and in global coordinates

Definition at line 415 of file Joints.cpp.

◆ segment() [1/2]

const biorbd::rigidbody::Segment & biorbd::rigidbody::Joints::segment ( const biorbd::utils::String & name ) const

Get a segment of a specific name.

Parameters

name	The name of the segment to return

Returns: The segment

Definition at line 194 of file Joints.cpp.

◆ segment() [2/2]

const biorbd::rigidbody::Segment & biorbd::rigidbody::Joints::segment ( unsigned int idx ) const

Get a segment of index idx.

Parameters

idx	Index of the segment

Returns: The segment

Definition at line 189 of file Joints.cpp.

◆ setGravity()

void biorbd::rigidbody::Joints::setGravity ( const biorbd::utils::Vector3d & newGravity )

Set the gravity.

Parameters

newGravity The new gravity vector

Definition at line 183 of file Joints.cpp.

◆ UpdateKinematicsCustom()

void biorbd::rigidbody::Joints::UpdateKinematicsCustom	(	const biorbd::rigidbody::GeneralizedCoordinates *	Q = `nullptr`,
		const biorbd::rigidbody::GeneralizedVelocity *	Qdot = `nullptr`,
		const biorbd::rigidbody::GeneralizedAcceleration *	Qddot = `nullptr`
	)

Update the kinematic variables such as body velocities and accelerations in the model to reflect the variables passed to this function.

Parameters

Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The generalized accelerations

Definition at line 1063 of file Joints.cpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Joints()

Member Function Documentation

◆ AddSegment() [1/2]

◆ AddSegment() [2/2]

◆ allGlobalJCS() [1/2]

◆ allGlobalJCS() [2/2]

◆ angularMomentum()

◆ CalcAngularMomentum() [1/2]

◆ CalcAngularMomentum() [2/2]

◆ CalcBodyWorldTransformation() [1/2]

◆ CalcBodyWorldTransformation() [2/2]

◆ CalcMatRotJacobian()

◆ CalcSegmentsAngularMomentum() [1/2]

◆ CalcSegmentsAngularMomentum() [2/2]

◆ checkGeneralizedDimensions()

◆ CoM()

◆ CoMbySegment() [1/2]

◆ CoMbySegment() [2/2]

◆ CoMbySegmentInMatrix()

◆ CoMddot()

◆ CoMddotBySegment() [1/2]

◆ CoMddotBySegment() [2/2]

◆ CoMdot()

◆ CoMdotBySegment() [1/2]

◆ CoMdotBySegment() [2/2]

◆ CoMJacobian()

◆ ComputeConstraintImpulsesDirect()

◆ computeQdot()

◆ ContactForcesFromForwardDynamicsConstraintsDirect()

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ dispatchedForce() [1/2]

◆ dispatchedForce() [2/2]

◆ ForwardDynamics()

◆ ForwardDynamicsConstraintsDirect() [1/2]

◆ ForwardDynamicsConstraintsDirect() [2/2]

◆ GetBodyBiorbdId()

◆ getDofIndex()

◆ getGravity()

◆ globalJCS() [1/4]

◆ globalJCS() [2/4]

◆ globalJCS() [3/4]

◆ globalJCS() [4/4]

◆ InverseDynamics()

◆ localJCS() [1/3]

◆ localJCS() [2/3]

◆ localJCS() [3/3]

◆ mass()

◆ massMatrix()

◆ mesh() [1/2]

◆ mesh() [2/2]

◆ meshFaces() [1/2]

◆ meshFaces() [2/2]

◆ meshPoints() [1/3]

◆ meshPoints() [2/3]

◆ meshPoints() [3/3]

◆ meshPointsInMatrix()

◆ nameDof()

◆ nbDof()

◆ nbGeneralizedTorque()

◆ nbQ()

◆ nbQddot()

◆ nbQdot()

◆ nbQuat()

◆ nbRoot()

◆ nbSegment()

◆ projectPoint() [1/3]

◆ projectPoint() [2/3]

◆ projectPoint() [3/3]

◆ projectPointJacobian() [1/3]

◆ projectPointJacobian() [2/3]

◆ projectPointJacobian() [3/3]

◆ segment() [1/2]

◆ segment() [2/2]

◆ setGravity()