#include <RotoTransNodes.h>

Inheritance diagram for biorbd::rigidbody::RotoTransNodes:

Public Member Functions
	RotoTransNodes ()
	Construct RT set.

	RotoTransNodes (const biorbd::rigidbody::RotoTransNodes &other)
	Construct RTs set from another set. More...

virtual	~RotoTransNodes ()
	Destroy the class properly.

biorbd::rigidbody::RotoTransNodes	DeepCopy () const
	Deep copy of the RTs data. More...

void	DeepCopy (const biorbd::rigidbody::RotoTransNodes &other)
	Deep copy the RTs data. More...

void	addRT ()
	Add a new RT to the set.

void	addRT (const biorbd::utils::RotoTransNode &RotoTrans)
	Add a new RT to the set. More...

unsigned int	nbRTs () const
	Return the number of RTs in the set. More...

std::vector< biorbd::utils::String >	RTsNames ()
	Return the names of the RTs. More...

const std::vector< biorbd::utils::RotoTransNode > &	RTs () const
	Return all the RTs in the local reference of the segment. More...

std::vector< biorbd::utils::RotoTransNode >	RTs (const biorbd::utils::String &segmentName)
	Return all the RTs of a segment. More...

const biorbd::utils::RotoTransNode &	RT (unsigned int idx)
	Return the RTs of a specified index. More...

std::vector< biorbd::utils::RotoTransNode >	RTs (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Compute and return all the RTs at the position given by Q. More...

biorbd::utils::RotoTransNode	RT (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int idx, bool updateKin=true)
	Compute and return the RT of index idx at the position given by Q. More...

std::vector< biorbd::utils::RotoTransNode >	segmentRTs (const biorbd::rigidbody::GeneralizedCoordinates &Q, unsigned int idx, bool updateKin=true)
	Return all the RTs on a specified segment. More...

std::vector< biorbd::utils::Matrix >	RTsJacobian (const biorbd::rigidbody::GeneralizedCoordinates &Q, bool updateKin=true)
	Return the jacobian of the RTs. More...

Protected Attributes
std::shared_ptr< std::vector< biorbd::utils::RotoTransNode > >	m_RTs
	All the RTs.

Detailed Description

Hold a set of RotoTransNodes.

Definition at line 22 of file RotoTransNodes.h.

Constructor & Destructor Documentation

◆ RotoTransNodes()

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

Construct RTs set from another set.

Parameters

other The other RTs set

Definition at line 20 of file RotoTransNodes.cpp.

Member Function Documentation

◆ addRT()

void biorbd::rigidbody::RotoTransNodes::addRT ( const biorbd::utils::RotoTransNode & RotoTrans )

Add a new RT to the set.

Parameters

RotoTrans The RotaTrans of the RT

Definition at line 50 of file RotoTransNodes.cpp.

◆ DeepCopy() [1/2]

biorbd::rigidbody::RotoTransNodes biorbd::rigidbody::RotoTransNodes::DeepCopy ( ) const

Deep copy of the RTs data.

Returns: A copy of the RTs data

Definition at line 30 of file RotoTransNodes.cpp.

◆ DeepCopy() [2/2]

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

Deep copy the RTs data.

Parameters

other The RT data to copy

Definition at line 37 of file RotoTransNodes.cpp.

◆ nbRTs()

unsigned int biorbd::rigidbody::RotoTransNodes::nbRTs ( ) const

Return the number of RTs in the set.

Returns: The number of RTs

Definition at line 56 of file RotoTransNodes.cpp.

◆ RT() [1/2]

biorbd::utils::RotoTransNode biorbd::rigidbody::RotoTransNodes::RT	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	idx,
		bool	updateKin = `true`
	)

Compute and return the RT of index idx at the position given by Q.

Parameters

Q	The generalized coordinates
idx	The index of the RT in the set
updateKin	If the model should be updated

Returns: The RT of index idx at the position given by Q

Definition at line 103 of file RotoTransNodes.cpp.

◆ RT() [2/2]

const biorbd::utils::RotoTransNode & biorbd::rigidbody::RotoTransNodes::RT ( unsigned int idx )

Return the RTs of a specified index.

Parameters

idx	The index of the RT in the set

Returns: RT of idx i

Definition at line 78 of file RotoTransNodes.cpp.

◆ RTs() [1/3]

const std::vector< biorbd::utils::RotoTransNode > & biorbd::rigidbody::RotoTransNodes::RTs ( ) const

Return all the RTs in the local reference of the segment.

Returns: All the RTs in local reference frame

Definition at line 63 of file RotoTransNodes.cpp.

◆ RTs() [2/3]

std::vector< biorbd::utils::RotoTransNode > biorbd::rigidbody::RotoTransNodes::RTs	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		bool	updateKin = `true`
	)

Compute and return all the RTs at the position given by Q.

Parameters

Q	The generalized coordinates
updateKin	If the model should be updated

Returns: All the RTs at the position given by Q

Definition at line 85 of file RotoTransNodes.cpp.

◆ RTs() [3/3]

std::vector< biorbd::utils::RotoTransNode > biorbd::rigidbody::RotoTransNodes::RTs ( const biorbd::utils::String & segmentName )

Return all the RTs of a segment.

Parameters

segmentName The name of the segment to return the RTs

Returns: All the RTs of attached to the segment

Definition at line 68 of file RotoTransNodes.cpp.

◆ RTsJacobian()

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

Return the jacobian of the RTs.

Parameters

Q	The generalized coordinates
updateKin	If the model should be updated

Returns: The jacobien of the RTs

Definition at line 143 of file RotoTransNodes.cpp.

◆ RTsNames()

std::vector< biorbd::utils::String > biorbd::rigidbody::RotoTransNodes::RTsNames ( )

Return the names of the RTs.

Returns: The names of the RTs

Definition at line 171 of file RotoTransNodes.cpp.

◆ segmentRTs()

std::vector< biorbd::utils::RotoTransNode > biorbd::rigidbody::RotoTransNodes::segmentRTs	(	const biorbd::rigidbody::GeneralizedCoordinates &	Q,
		unsigned int	idx,
		bool	updateKin = `true`
	)

Return all the RTs on a specified segment.

Parameters

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

Returns: All the RTs on the segment of index idx

Definition at line 120 of file RotoTransNodes.cpp.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RotoTransNodes()

Member Function Documentation

◆ addRT()

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ nbRTs()

◆ RT() [1/2]

◆ RT() [2/2]

◆ RTs() [1/3]

◆ RTs() [2/3]

◆ RTs() [3/3]

◆ RTsJacobian()

◆ RTsNames()

◆ segmentRTs()