Rigid Body Dynamics Library
rbdl_mathutils.h File Reference

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Namespaces

 RigidBodyDynamics
 Namespace for all structures of the RigidBodyDynamics library.
 
 RigidBodyDynamics::Math
 Math types such as vectors and matrices and utility functions.
 

Functions

RBDL_DLLAPI VectorNd VectorFromPtr (unsigned int n, double *ptr)
 
RBDL_DLLAPI MatrixNd MatrixFromPtr (unsigned int rows, unsigned int cols, double *ptr, bool row_major=true)
 
RBDL_DLLAPI bool LinSolveGaussElimPivot (MatrixNd A, VectorNd b, VectorNd &x)
 Solves a linear system using gaussian elimination with pivoting. More...
 
RBDL_DLLAPI void SpatialMatrixSetSubmatrix (SpatialMatrix &dest, unsigned int row, unsigned int col, const Matrix3d &matrix)
 
RBDL_DLLAPI bool SpatialMatrixCompareEpsilon (const SpatialMatrix &matrix_a, const SpatialMatrix &matrix_b, double epsilon)
 
RBDL_DLLAPI bool SpatialVectorCompareEpsilon (const SpatialVector &vector_a, const SpatialVector &vector_b, double epsilon)
 
RBDL_DLLAPI Matrix3d parallel_axis (const Matrix3d &inertia, double mass, const Vector3d &com)
 Translates the inertia matrix to a new center. More...
 
RBDL_DLLAPI SpatialMatrix Xtrans_mat (const Vector3d &displacement)
 Creates a transformation of a linear displacement. More...
 
RBDL_DLLAPI SpatialMatrix Xrotz_mat (const double &zrot)
 Creates a rotational transformation around the Z-axis. More...
 
RBDL_DLLAPI SpatialMatrix Xroty_mat (const double &yrot)
 Creates a rotational transformation around the Y-axis. More...
 
RBDL_DLLAPI SpatialMatrix Xrotx_mat (const double &xrot)
 Creates a rotational transformation around the X-axis. More...
 
RBDL_DLLAPI SpatialMatrix XtransRotZYXEuler (const Vector3d &displacement, const Vector3d &zyx_euler)
 Creates a spatial transformation for given parameters. More...
 
RBDL_DLLAPI Matrix3d rotx (const double &xrot)
 
RBDL_DLLAPI Matrix3d roty (const double &yrot)
 
RBDL_DLLAPI Matrix3d rotz (const double &zrot)
 
RBDL_DLLAPI Matrix3d rotxdot (const double &x, const double &xdot)
 
RBDL_DLLAPI Matrix3d rotydot (const double &y, const double &ydot)
 
RBDL_DLLAPI Matrix3d rotzdot (const double &z, const double &zdot)
 
RBDL_DLLAPI Vector3d angular_velocity_from_angle_rates (const Vector3d &zyx_angles, const Vector3d &zyx_angle_rates)
 
RBDL_DLLAPI Vector3d global_angular_velocity_from_rates (const Vector3d &zyx_angles, const Vector3d &zyx_rates)
 
RBDL_DLLAPI Vector3d angular_acceleration_from_angle_rates (const Vector3d &zyx_angles, const Vector3d &zyx_angle_rates, const Vector3d &zyx_angle_rates_dot)
 
RBDL_DLLAPI void SparseFactorizeLTL (Model &model, Math::MatrixNd &H)
 
RBDL_DLLAPI void SparseMultiplyHx (Model &model, Math::MatrixNd &L)
 
RBDL_DLLAPI void SparseMultiplyLx (Model &model, Math::MatrixNd &L)
 
RBDL_DLLAPI void SparseMultiplyLTx (Model &model, Math::MatrixNd &L)
 
RBDL_DLLAPI void SparseSolveLx (Model &model, Math::MatrixNd &L, Math::VectorNd &x)
 
RBDL_DLLAPI void SparseSolveLTx (Model &model, Math::MatrixNd &L, Math::VectorNd &x)
 

Variables

 LinearSolverUnknown = 0
 
 LinearSolverPartialPivLU
 
 LinearSolverColPivHouseholderQR
 
 LinearSolverHouseholderQR
 
 LinearSolverLLT
 
 LinearSolverLast
 
RBDL_DLLAPI Vector3d Vector3dZero
 
RBDL_DLLAPI Matrix3d Matrix3dIdentity
 
RBDL_DLLAPI Matrix3d Matrix3dZero
 

Variable Documentation

◆ LinearSolverColPivHouseholderQR

LinearSolverColPivHouseholderQR

Definition at line 28 of file rbdl_mathutils.h.

◆ LinearSolverHouseholderQR

LinearSolverHouseholderQR

Definition at line 28 of file rbdl_mathutils.h.

◆ LinearSolverLast

LinearSolverLast

Definition at line 28 of file rbdl_mathutils.h.

◆ LinearSolverLLT

LinearSolverLLT

Definition at line 28 of file rbdl_mathutils.h.

◆ LinearSolverPartialPivLU

LinearSolverPartialPivLU

Definition at line 28 of file rbdl_mathutils.h.

◆ LinearSolverUnknown

LinearSolverUnknown = 0

Definition at line 28 of file rbdl_mathutils.h.