tf = dartpy.math.Isometry3()
-rot = dartpy.math.AngleAxis(3.14, [1., 0., 0.])
-rot = rot.multiply( dartpy.math.AngleAxis(1.57, [0., 0., 1.])).to_rotation_matrix()
+rot = dartpy.math.AngleAxis(3.14, [1., 0., 0.])
+rot = rot.multiply(dartpy.math.AngleAxis(1.57, [0., 0., 1.])).to_rotation_matrix()
tf.set_translation([0., 0., 0.1])
-camera.attach_to_body(robot.body_node("iiwa_link_ee"), tf) # cameras are looking towards -z by default
+tf.set_rotation(rot)
+camera.attach_to_body(robot.body_node("iiwa_link_ee"), tf) # cameras are looking towards -z by default
RobotDART is a C++ robot simulator (with optional Python bindings) built on top of the DART physics engine. The RobotDART simulator is intended to be used by Robotics and Machine Learning researchers who want to write controllers or test learning algorithms without the delays and overhead that usually comes with other simulators (e.g., Gazebo, Coppelia-sim).
For this reason, the simulator runs headless by default, and there is the possibility of rendering the scene (e.g., through a camera sensor) without opening a graphics window. All RobotDART's code is thread-safe (including graphics and camera sensors), and thus enables its users to use their code in parallel jobs in multicore computers.
In a few words, RobotDART combines:
"},{"location":"#main-features","title":"Main Features","text":"
Robot class that enables a unified creation and access to all important values: in RobotDART you can load any robot description file (URDF, SDF, SKEL, and MuJoCo files) with the same command, and all robot measurements can be queried without using any DART codeRobotControl class that enables fast prototyping of any type of controllerSensor class that allows the creation of any kind of sensorForceTorque, IMU, RGB, and RGB-D sensorsRobotDARTSimu) that handles multiple robots and sensors, and allows for step-by-step simulationThis pages provides a user guide of the library through Frequently Asked Questions (FAQ).
"},{"location":"faq/#what-is-a-minimal-working-example-of-robotdart","title":"What is a minimal working example of RobotDART?","text":"You can find a minimal working example at hello_world.cpp. This example is creating a world where a hexapod robot is placed just above a floor and left to fall. The robot has no actuation, and there is the simplest graphics configuration. Let's split it down.
#include <robot_dart/robot_dart_simu.hpp>\n\n#ifdef GRAPHIC\n#include <robot_dart/gui/magnum/graphics.hpp>\n#endif\nimport RobotDART as rd\nauto robot = std::make_shared<robot_dart::Robot>(\"pexod.urdf\");\nrobot = rd.Robot(\"pexod.urdf\");\nrobot->set_base_pose(robot_dart::make_tf({0., 0., 0.2}));\n# pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)\nrobot.set_base_pose([0., 0., 0., 0., 0., 0.2])\nrobot_dart::RobotDARTSimu simu(0.001); // dt=0.001, 1KHz simulation\nsimu.add_floor();\nsimu.add_robot(robot);\nsimu = rd.RobotDARTSimu(0.001); # dt=0.001, 1KHz simulation\nsimu.add_floor();\nsimu.add_robot(robot);\nauto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();\nsimu.set_graphics(graphics);\ngraphics->look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});\ngraphics = rd.gui.Graphics()\nsimu.set_graphics(graphics)\ngraphics.look_at([0.5, 3., 0.75], [0.5, 0., 0.2])\nsimu.run(10.);\nsimu.run(10.)\n"},{"location":"faq/#what-robots-are-supported-in-robotdart","title":"What robots are supported in RobotDART?","text":"
RobotDART supports any robot that can be described by a URDF, SDF, SKEL or MJCF file. Nevertheless, we have a curated list of robots with edited and optimized models to be used with RobotDART (see the robots page for details and examples).
"},{"location":"faq/#how-can-i-load-my-own-urdfsdfskelmjcf-file","title":"How can I load my own URDF/SDF/SKEL/MJCF file?","text":"See the robots page for details.
"},{"location":"faq/#how-do-i-enable-graphics-in-my-code","title":"How do I enable graphics in my code?","text":"To enable graphics in your code, you need to do the following:
auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();\nsimu.set_graphics(graphics);\ngraphics->look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});\ngraphics = rd.gui.Graphics()\nsimu.set_graphics(graphics)\ngraphics.look_at([0.5, 3., 0.75], [0.5, 0., 0.2])\nHaving multiple camera sensors is indeed possible. We can add as many cameras as we wish along the main camera defined in How do I record a video:
C++Python// Add camera\nauto camera = std::make_shared<robot_dart::sensor::Camera>(graphics->magnum_app(), 256, 256);\n# Add camera\ncamera = rd.sensor.Camera(graphics.magnum_app(), 32, 32)\nIn order to record a video (1) of what the main or any other camera \"sees\", you need to call the function record_video(path) of the graphics class:
ffmpeg installed on your system.graphics->record_video(\"talos_dancing.mp4\");\ngraphics.record_video(\"talos_dancing.mp4\")\nOr the camera class:
C++Python// cameras can also record video\ncamera->record_video(\"video-camera.mp4\");\n# cameras can also record video\ncamera.record_video(\"video-camera.mp4\")\nIn order to position a camera inside the world, we need to use the lookAt method of the camera/graphics object:
// set the position of the camera, and the position where the main camera is looking at\nEigen::Vector3d cam_pos = {-0.5, -3., 0.75};\nEigen::Vector3d cam_looks_at = {0.5, 0., 0.2};\ncamera->look_at(cam_pos, cam_looks_at);\n# set the position of the camera, and the position where the main camera is looking at\ncam_pos = [-0.5, -3., 0.75]\ncam_looks_at = [0.5, 0., 0.2]\ncamera.look_at(cam_pos, cam_looks_at)\nCameras can be easily attached to a moving link:
C++PythonEigen::Isometry3d tf;\ntf = Eigen::AngleAxisd(3.14, Eigen::Vector3d{1., 0., 0.});\ntf *= Eigen::AngleAxisd(1.57, Eigen::Vector3d{0., 0., 1.});\ntf.translation() = Eigen::Vector3d(0., 0., 0.1);\ncamera->attach_to_body(robot->body_node(\"iiwa_link_ee\"), tf); // cameras are looking towards -z by default\ntf = dartpy.math.Isometry3()\nrot = dartpy.math.AngleAxis(3.14, [1., 0., 0.])\nrot = rot.multiply( dartpy.math.AngleAxis(1.57, [0., 0., 1.])).to_rotation_matrix()\ntf.set_translation([0., 0., 0.1])\ncamera.attach_to_body(robot.body_node(\"iiwa_link_ee\"), tf) # cameras are looking towards -z by default\nEvery camera has its own parameters, i.e a Near plane, a far plane, a Field Of View (FOV), a width and a height (that define the aspect ratio), you can manipulate each one separately:
C++Pythoncamera->camera().set_far_plane(5.f);\ncamera->camera().set_near_plane(0.01f);\ncamera->camera().set_fov(60.0f);\ncamera.camera().set_far_plane(5.)\ncamera.camera().set_near_plane(0.01)\ncamera.camera().set_fov(60.0)\nor all at once:
C++Pythoncamera->camera().set_camera_params(5., // far plane\n 0.01f, // near plane\n 60.0f, // field of view\n 600, // width\n 400 // height\n);\ncamera.camera().set_camera_params(5., #far plane\n 0.01, #near plane\n 60.0, # field of view\n 600, # width\n 400) #height\nYou can find a complete example at cameras.cpp and cameras.py.
"},{"location":"faq/#how-can-i-interact-with-the-camera","title":"How can I interact with the camera?","text":"We can move translate the cameras with the WASD keys, zoom in and out using the mouse wheel and rotate the camera with holding the left mouse key and moving the mouse.
The status bar looks like this:
Where simulation time gives us the total simulated time (in seconds), wall time gives us the total time (in seconds) that has passed in real-time once we have started simulating. The next number X.Xx gives us the real-time factor: for example, 1.1x means that the simulation runs 1.1 times faster than real-time, whereas 0.7x means that the simulation runs slower than real-time. The value it: XX ms reports the time it took the last iteration (in milliseconds). The last part gives us whether the simulation tries to adhere to real-time or not. sync means that RobotDART will slow down the simulation in order for it to be in real-time, whereas no-sync means that RobotDART will try to run the simulation as fast as possible.
"},{"location":"faq/#how-can-i-alter-the-graphics-scene-eg-change-lighting-conditions","title":"How can I alter the graphics scene (e.g., change lighting conditions)?","text":"When creating a graphics object, you can pass a GraphicsConfiguration object that changes the default values:
robot_dart::gui::magnum::GraphicsConfiguration configuration;\n// We can change the width/height of the window (or camera image dimensions)\nconfiguration.width = 1280;\nconfiguration.height = 960;\nconfiguration.title = \"Graphics Tutorial\"; // We can set a title for our window\n\n// We can change the configuration for shadows\nconfiguration.shadowed = true;\nconfiguration.transparent_shadows = true;\nconfiguration.shadow_map_size = 1024;\n\n// We can also alter some specifications for the lighting\nconfiguration.max_lights = 3; // maximum number of lights for our scene [default=3]\nconfiguration.specular_strength = 0.25; // strength of the specular component\n\n// Some extra configuration for the main camera\nconfiguration.draw_main_camera = true;\nconfiguration.draw_debug = true;\nconfiguration.draw_text = true;\n\n// We can also change the background color [default=black]\nconfiguration.bg_color = Eigen::Vector4d{1.0, 1.0, 1.0, 1.0};\n\n// Create the graphics object with the configuration as parameter\nauto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(configuration);\nconfiguration = rd.gui.GraphicsConfiguration()\n# We can change the width/height of the window (or camera, dimensions)\nconfiguration.width = 1280\nconfiguration.height = 960\nconfiguration.title = \"Graphics Tutorial\" # We can set a title for our window\n\n# We can change the configuration for shadows\nconfiguration.shadowed = True\nconfiguration.transparent_shadows = True\nconfiguration.shadow_map_size = 1024\n\n# We can also alter some specifications for the lighting\nconfiguration.max_lights = 3 # maximum number of lights for our scene\nconfiguration.specular_strength = 0.25 # strength og the specular component\n\n# Some extra configuration for the main camera\nconfiguration.draw_main_camera = True\nconfiguration.draw_debug = True\nconfiguration.draw_text = True\n\n# We can also change the background color [default = black]\nconfiguration.bg_color = [1., 1., 1., 1.]\n\n# create the graphics object with the configuration as a parameter\ngraphics = rd.gui.Graphics(configuration)\nYou can disable or enable shadows on the fly as well:
C++Python// Disable shadows\ngraphics->enable_shadows(false, false);\nsimu.run(1.);\n// Enable shadows only for non-transparent objects\ngraphics->enable_shadows(true, false);\nsimu.run(1.);\n// Enable shadows for transparent objects as well\ngraphics->enable_shadows(true, true);\nsimu.run(1.);\n# Disable shadows\ngraphics.enable_shadows(False, False)\nsimu.run(1.)\n# Enable shadows only for non-transparent objects\ngraphics.enable_shadows(True, False)\nsimu.run(1.)\n# Enable shadows for transparent objects as well\ngraphics.enable_shadows(True, True)\nsimu.run(1.)\nYou can also add your own lights. The application by default creates 2 light sources and the maximum number of lights is 3 (you can change this once before the creation of the graphics object via the GraphicsConfiguration object). So usually before you add your lights, you have to clear the default lights:
// Clear Lights\ngraphics->clear_lights();\n# Clear Lights\ngraphics.clear_lights()\nThen you must create a custom light material:
C++Python// Create Light material\nMagnum::Float shininess = 1000.f;\nMagnum::Color4 white = {1.f, 1.f, 1.f, 1.f};\n\n// ambient, diffuse, specular\nauto custom_material = robot_dart::gui::magnum::gs::Material(white, white, white, shininess);\n# Clear Light material\nshininess = 1000.\nwhite = magnum.Color4(1., 1., 1., 1.)\n\n# ambient, diffuse, specular\ncustom_material = rd.gui.Material(white, white, white, shininess)\nNow you can add on ore more of the following lights:
Point Light:
C++Python// Create point light\nMagnum::Vector3 position = {0.f, 0.f, 2.f};\nMagnum::Float intensity = 1.f;\nMagnum::Vector3 attenuation_terms = {1.f, 0.f, 0.f};\nauto point_light = robot_dart::gui::magnum::gs::create_point_light(position, custom_material, intensity, attenuation_terms);\ngraphics->add_light(point_light);\n# Create point light\nposition = magnum.Vector3(0., 0., 2.)\nintensity = 1.\nattenuation_terms = magnum.Vector3(1., 0., 0.)\npoint_light = rd.gui.create_point_light(position, custom_material, intensity, attenuation_terms)\ngraphics.add_light(point_light)\nSpot Light:
C++Python// Create spot light\nMagnum::Vector3 position = {0.f, 0.f, 1.f};\nMagnum::Vector3 direction = {-1.f, -1.f, -1.f};\nMagnum::Float intensity = 1.f;\nMagnum::Vector3 attenuation_terms = {1.f, 0.f, 0.f};\nMagnum::Float spot_exponent = M_PI;\nMagnum::Float spot_cut_off = M_PI / 8;\nauto spot_light = robot_dart::gui::magnum::gs::create_spot_light(position, custom_material, direction, spot_exponent, spot_cut_off, intensity, attenuation_terms);\ngraphics->add_light(spot_light);\n# Create spot light\nposition = magnum.Vector3(0., 0., 1.)\ndirection = magnum.Vector3(-1, -1, -1)\nintensity = 1.\nattenuation_terms = magnum.Vector3(1., 0., 0.)\nspot_exponent = np.pi\nspot_cut_off = np.pi / 8\nspot_light = rd.gui.create_spot_light(position, custom_material, direction, spot_exponent, spot_cut_off, intensity, attenuation_terms)\ngraphics.add_light(spot_light)\nDirectional Light:
C++Python// Create directional light\nMagnum::Vector3 direction = {-1.f, -1.f, -1.f};\nauto directional_light = robot_dart::gui::magnum::gs::create_directional_light(direction, custom_material);\ngraphics->add_light(directional_light);\n# Create directional light\ndirection = magnum.Vector3(-1, -1, -1)\ndirectional_light = rd.gui.create_directional_light(direction, custom_material)\ngraphics.add_light(directional_light)\nYes this is possible. RobotDART gives the ability to create a clone of your robot that has no physics, no contacts, just visuals:
C++Python// Add a ghost robot; only visuals, no dynamics, no collision\nauto ghost = robot->clone_ghost();\nsimu.add_robot(ghost);\n# Add a ghost robot; only visuals, no dynamics, no collision\nghost = robot.clone_ghost()\nsimu.add_robot(ghost)\nPD control
C++Python// add a PD-controller to the arm\n// set desired positions\nEigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 4., 0., -M_PI / 4., 0., M_PI / 2., 0., 0.});\n\n// add the controller to the robot\nauto controller = std::make_shared<robot_dart::control::PDControl>(ctrl);\nrobot->add_controller(controller);\ncontroller->set_pd(300., 50.);\n# add a PD-controller to the arm\n# set desired positions\nctrl = [0., np.pi / 4., 0., -np.pi / 4., 0., np.pi / 2., 0., 0.]\n\n# add the controller to the robot\ncontroller = rd.PDControl(ctrl)\nrobot.add_controller(controller)\ncontroller.set_pd(300., 50.)\nSimple control
C++Pythonauto controller1 = std::make_shared<robot_dart::control::SimpleControl>(ctrl);\n// add the controller to the robot, with a default weight of 1.0\nrobot->add_controller(controller1);\ncontroller1 = rd.SimpleControl(ctrl)\n# add the controller to the robot, with a default weight of 1.0\nrobot.add_controller(controller1)\nRobot control
C++Pythonclass MyController : public robot_dart::control::RobotControl {\npublic:\n MyController() : robot_dart::control::RobotControl() {}\n\n MyController(const Eigen::VectorXd& ctrl, bool full_control) : robot_dart::control::RobotControl(ctrl, full_control) {}\n MyController(const Eigen::VectorXd& ctrl, const std::vector<std::string>& dof_names) : robot_dart::control::RobotControl(ctrl, dof_names) {}\n\n void configure() override\n {\n _active = true;\n }\n\n Eigen::VectorXd calculate(double) override\n {\n auto robot = _robot.lock();\n Eigen::VectorXd cmd = 100. * (_ctrl - robot->positions(_controllable_dofs));\n return cmd;\n }\n std::shared_ptr<robot_dart::control::RobotControl> clone() const override\n {\n return std::make_shared<MyController>(*this);\n }\n};\nclass MyController(rd.RobotControl):\n def __init__(self, ctrl, full_control):\n rd.RobotControl.__init__(self, ctrl, full_control)\n\n def __init__(self, ctrl, controllable_dofs):\n rd.RobotControl.__init__(self, ctrl, controllable_dofs)\n\n def configure(self):\n self._active = True\n\n def calculate(self, t):\n target = np.array([self._ctrl])\n cmd = 100*(target-self.robot().positions(self._controllable_dofs))\n return cmd[0]\n\n # TO-DO: This is NOT working at the moment!\n def clone(self):\n return MyController(self._ctrl, self._controllable_dofs)\nWhen creating a RobotDARTSimu object you choose the simulation timestep:
C++Python// choose time step of 0.001 seconds\nrobot_dart::RobotDARTSimu simu(0.001);\n# choose time step of 0.001 seconds\nsimu = rd.RobotDARTSimu(0.001)\nwhich can later be modified by:
C++Python// set timestep to 0.005 and update control frequency(bool)\nsimu.set_timestep(0.005, true);\n# set timestep to 0.005 and update control frequency(bool)\nsimu.set_timestep(0.005, True)\nYes you can modify the gravitational forces 3-dimensional vector of the simulation:
C++Python// Set gravitational force of mars\nEigen::Vector3d mars_gravity = {0., 0., -3.721};\nsimu.set_gravity(mars_gravity);\n# set gravitational force of mars\nmars_gravity = [0., 0., -3.721]\nsimu.set_gravity(mars_gravity)\nWe can easily select one of the available collision detectors using the simulator object:
C++Pythonsimu.set_collision_detector(\"fcl\"); // collision_detector can be \"dart\", \"fcl\", \"ode\" or \"bullet\" (case does not matter)\nsimu.set_collision_detector(\"fcl\") # collision_detector can be \"dart\", \"fcl\", \"ode\" or \"bullet\" (case does not matter)\nOne possible cause may be the fact that self collision is disabled, you can check and change this:
C++Pythonif (!robot->self_colliding()) {\n std::cout << \"Self collision is not enabled\" << std::endl;\n // set self collisions to true and adjacent collisions to false\n robot->set_self_collision(true, false);\n}\nif(not robot.self_colliding()):\n print(\"Self collision is not enabled\")\n # set self collisions to true and adjacent collisions to false\n robot.set_self_collision(True, False)\nKinematic Properties:
C++Python// Get Joint Positions(Angles)\nauto joint_positions = robot->positions();\n\n// Get Joint Velocities\nauto joint_vels = robot->velocities();\n\n// Get Joint Accelerations\nauto joint_accs = robot->accelerations();\n\n// Get link_name(str) Transformation matrix with respect to the world frame.\nauto eef_tf = robot->body_pose(link_name);\n\n// Get translation vector from transformation matrix\nauto eef_pos = eef_tf.translation();\n\n// Get rotation matrix from tranformation matrix\nauto eef_rot = eef_tf.rotation();\n\n// Get link_name 6d pose vector [logmap(eef_tf.linear()), eef_tf.translation()]\nauto eef_pose_vec = robot->body_pose_vec(link_name);\n\n// Get link_name 6d velocity vector [angular, cartesian]\nauto eef_vel = robot->body_velocity(link_name);\n\n// Get link_name 6d acceleration vector [angular, cartesian]\nauto eef_acc = robot->body_acceleration(link_name);\n\n// Jacobian targeting the origin of link_name(str)\nauto jacobian = robot->jacobian(link_name);\n\n// Jacobian time derivative\nauto jacobian_deriv = robot->jacobian_deriv(link_name);\n\n// Center of Mass Jacobian\nauto com_jacobian = robot->com_jacobian();\n\n// Center of Mass Jacobian Time Derivative\nauto com_jacobian_deriv = robot->com_jacobian_deriv();\n# Get Joint Positions(Angles)\njoint_positions = robot.positions()\n\n# Get Joint Velocities\njoint_vels = robot.velocities()\n\n# Get Joint Accelerations\njoint_accs = robot.accelerations()\n\n# Get link_name(str) Transformation matrix with respect to the world frame.\neef_tf = robot.body_pose(link_name)\n\n# Get translation vector from transformation matrix\neef_pos = eef_tf.translation()\n\n# Get rotation matrix from tranformation matrix\neef_rot = eef_tf.rotation()\n\n# Get link_name 6d pose vector [logmap(eef_tf.linear()), eef_tf.translation()]\neef_pose_vec = robot.body_pose_vec(link_name)\n\n# Get link_name 6d velocity vector [angular, cartesian]\neef_vel = robot.body_velocity(link_name)\n\n# Get link_name 6d acceleration vector [angular, cartesian]\neef_acc = robot.body_acceleration(link_name)\n\n# Jacobian targeting the origin of link_name(str)\njacobian = robot.jacobian(link_name)\n\n# Jacobian time derivative\njacobian_deriv = robot.jacobian_deriv(link_name)\n\n# Center of Mass Jacobian\ncom_jacobian = robot.com_jacobian()\n\n# Center of Mass Jacobian Time Derivative\ncom_jacobian_deriv = robot.com_jacobian_deriv()\nDynamic Properties:
C++Python// Get Joint Forces\nauto joint_forces = robot->forces();\n\n// Get link's mass\nauto eef_mass = robot->body_mass(link_name);\n\n// Mass Matrix of robot\nauto mass_matrix = robot->mass_matrix();\n\n// Inverse of Mass Matrix\nauto inv_mass_matrix = robot->inv_mass_matrix();\n\n// Augmented Mass matrix\nauto aug_mass_matrix = robot->aug_mass_matrix();\n\n// Inverse of Augmented Mass matrix\nauto inv_aug_mass_matrix = robot->inv_aug_mass_matrix();\n\n// Coriolis Force vector\nauto coriolis = robot->coriolis_forces();\n\n// Gravity Force vector\nauto gravity = robot->gravity_forces();\n\n// Combined vector of Coriolis Force and Gravity Force\nauto coriolis_gravity = robot->coriolis_gravity_forces();\n\n// Constraint Force Vector\nauto constraint_forces = robot->constraint_forces();\n# Get Joint Forces\njoint_forces = robot.forces()\n\n# Get link's mass\neef_mass = robot.body_mass(link_name)\n\n# Mass Matrix of robot\nmass_matrix = robot.mass_matrix()\n\n# Inverse of Mass Matrix\ninv_mass_matrix = robot.inv_mass_matrix()\n\n# Augmented Mass matrix\naug_mass_matrix = robot.aug_mass_matrix()\n\n# Inverse of Augmented Mass matrix\ninv_aug_mass_matrix = robot.inv_aug_mass_matrix()\n\n# Coriolis Force vector\ncoriolis = robot.coriolis_forces()\n\n# Gravity Force vector\ngravity = robot.gravity_forces()\n\n# Combined vector of Coriolis Force and Gravity Force\ncoriolis_gravity = robot.coriolis_gravity_forces()\n\n# NOT IMPLEMENTED\n# # Constraint Force Vector\n# constraint_forces = robot.constraint_forces()\nThere are 6 types of actuators available, you can set the same actuator to multiple joints at once, or you can set each sensor separately:
C++Python// Set all DoFs to same actuator\nrobot->set_actuator_types(\"servo\"); // actuator types can be \"servo\", \"torque\", \"velocity\", \"passive\", \"locked\", \"mimic\"\n// You can also set actuator types separately\nrobot->set_actuator_type(\"torque\", \"iiwa_joint_5\");\n# Set all DoFs to same actuator\n# actuator types can be \"servo\", \"torque\", \"velocity\", \"passive\", \"locked\", \"mimic\"\nrobot.set_actuator_types(\"servo\")\n# You can also set actuator types separately\nrobot.set_actuator_type(\"torque\", \"iiwa_joint_5\")\nTo enable position and velocity limits for the actuators:
C++Python// \u0395nforce joint position and velocity limits\nrobot->set_position_enforced(true);\n# \u0395nforce joint position and velocity limits\nrobot.set_position_enforced(True)\nEvery DOF's limits (position, velocity, acceleration, force) can be modified:
C++Python// Modify Position Limits\nEigen::VectorXd pos_upper_lims(7);\npos_upper_lims << 2.096, 2.096, 2.096, 2.096, 2.096, 2.096, 2.096;\nrobot->set_position_upper_limits(pos_upper_lims, dof_names);\nrobot->set_position_lower_limits(-pos_upper_lims, dof_names);\n\n// Modify Velocity Limits\n\nEigen::VectorXd vel_upper_lims(7);\nvel_upper_lims << 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5;\nrobot->set_velocity_upper_limits(vel_upper_lims, dof_names);\nrobot->set_velocity_lower_limits(-vel_upper_lims, dof_names);\n\n// Modify Force Limits\n\nEigen::VectorXd force_upper_lims(7);\nforce_upper_lims << 150, 150, 150, 150, 150, 150, 150;\nrobot->set_force_upper_limits(force_upper_lims, dof_names);\nrobot->set_force_lower_limits(-force_upper_lims, dof_names);\n\n// Modify Acceleration Limits\nEigen::VectorXd acc_upper_lims(7);\nacc_upper_lims << 1500, 1500, 1500, 1500, 1500, 1500, 1500;\nrobot->set_acceleration_upper_limits(acc_upper_lims, dof_names);\nrobot->set_acceleration_lower_limits(-acc_upper_lims, dof_names);\n# Modify Position Limits\npos_upper_lims = np.array([2.096, 2.096, 2.096, 2.096, 2.096, 2.096, 2.096])\nrobot.set_position_upper_limits(pos_upper_lims, dof_names)\nrobot.set_position_lower_limits(-1*pos_upper_lims, dof_names)\n\n# Modify Velocity Limits\nvel_upper_lims = np.array([1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5])\n\nrobot.set_velocity_upper_limits(vel_upper_lims, dof_names)\nrobot.set_velocity_lower_limits(-1*vel_upper_lims, dof_names)\n\n# Modify Force Limits\nforce_upper_lims = np.array([150, 150, 150, 150, 150, 150, 150])\nrobot.set_force_upper_limits(force_upper_lims, dof_names)\nrobot.set_force_lower_limits(-1*force_upper_lims, dof_names)\n\n# Modify Acceleration Limits\nacc_upper_lims = np.array([1500, 1500, 1500, 1500, 1500, 1500, 1500])\nrobot.set_acceleration_upper_limits(acc_upper_lims, dof_names)\nrobot.set_acceleration_lower_limits(-1*acc_upper_lims, dof_names)\nYou can also modify the damping coefficients, coulomb frictions and spring stiffness of every DOF:
C++Python// Modify Damping Coefficients\nstd::vector<double> damps = {0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4};\nrobot->set_damping_coeffs(damps, dof_names);\n\n// Modify Coulomb Frictions\nstd::vector<double> cfrictions = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001};\nrobot->set_coulomb_coeffs(cfrictions, dof_names);\n\n// Modify Spring Stiffness\nstd::vector<double> stiffnesses = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001};\nrobot->set_spring_stiffnesses(stiffnesses, dof_names);\n# Modify Damping Coefficients\ndamps = [0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4]\nrobot.set_damping_coeffs(damps, dof_names)\n\n# Modify Coulomb Frictions\ncfrictions = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]\nrobot.set_coulomb_coeffs(cfrictions, dof_names)\n\n# Modify Spring Stiffness\nstiffnesses = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]\nrobot.set_spring_stiffnesses(stiffnesses, dof_names)\nSensors in RobotDART can be added only through the simulator object. All of the sensors can be added without being attached to any body or joint but some of them can operate only when attached to something (e.g. ForceTorque sensors).
Torque sensors can be added to every joint of the robot:
C++Python// Add torque sensors to the robot\nint ct = 0;\nstd::vector<std::shared_ptr<robot_dart::sensor::Torque>> tq_sensors(robot->num_dofs());\nfor (const auto& joint : robot->dof_names())\n tq_sensors[ct++] = simu.add_sensor<robot_dart::sensor::Torque>(robot, joint, 1000);\n# Add torque sensors to the robot\ntq_sensors = np.empty(robot.num_dofs(), dtype=rd.sensor.Torque)\nct = 0\nfor joint in robot.dof_names():\n simu.add_sensor(rd.sensor.Torque(robot, joint, 1000))\n tq_sensors[ct] = simu.sensors()[-1]\n ct += 1\nTorque sensors measure the torque \\(\\tau \\in \\rm I\\!R^n\\) of the attached joint (where \\(n\\) is the DOFs of the joint):
C++Python// vector that contains the torque measurement for every joint (scalar)\nEigen::VectorXd torques_measure(robot->num_dofs());\nfor (const auto& tq_sens : tq_sensors)\n torques_measure.block<1, 1>(ct++, 0) = tq_sens->torques();\n# vector that contains the torque measurement for every joint (scalar)\ntorques_measure = np.empty(robot.num_dofs())\nct = 0\nfor tq_sens in tq_sensors:\n torques_measure[ct] = tq_sens.torques()\n ct += 1\nForce-Torque sensors can be added to every joint of the robot:
C++Python// Add force-torque sensors to the robot\nct = 0;\nstd::vector<std::shared_ptr<robot_dart::sensor::ForceTorque>> f_tq_sensors(robot->num_dofs());\nfor (const auto& joint : robot->dof_names())\n f_tq_sensors[ct++] = simu.add_sensor<robot_dart::sensor::ForceTorque>(robot, joint, 1000, \"parent_to_child\");\n# Add force-torque sensors to the robot\nf_tq_sensors = np.empty(robot.num_dofs(), dtype=rd.sensor.ForceTorque)\nct = 0\nfor joint in robot.dof_names():\n simu.add_sensor(rd.sensor.ForceTorque(\n robot, joint, 1000, \"parent_to_child\"))\n f_tq_sensors[ct] = simu.sensors()[-1]\n print(f_tq_sensors)\n ct += 1\nTorque sensors measure the force \\(\\boldsymbol{F} \\in \\rm I\\!R^3\\), the torque \\(\\boldsymbol{\\tau} \\in \\rm I\\!R^3\\) and the wrench \\(\\boldsymbol{\\mathcal{F}} =\\begin{bmatrix} \\tau, F\\end{bmatrix}\\in \\rm I\\!R^6\\) of the attached joint:
C++Python// matrix that contains the torque measurement for every joint (3d vector)\nEigen::MatrixXd ft_torques_measure(robot->num_dofs(), 3);\n// matrix that contains the force measurement for every joint (3d vector)\nEigen::MatrixXd ft_forces_measure(robot->num_dofs(), 3);\n// matrix that contains the wrench measurement for every joint (6d vector)[torque, force]\nEigen::MatrixXd ft_wrench_measure(robot->num_dofs(), 6);\nct = 0;\nfor (const auto& f_tq_sens : f_tq_sensors) {\n ft_torques_measure.block<1, 3>(ct, 0) = f_tq_sens->torque();\n ft_forces_measure.block<1, 3>(ct, 0) = f_tq_sens->force();\n ft_wrench_measure.block<1, 6>(ct, 0) = f_tq_sens->wrench();\n ct++;\n}\n# matrix that contains the torque measurement for every joint (3d vector)\nft_torques_measure = np.empty([robot.num_dofs(), 3])\n# matrix that contains the force measurement for every joint (3d vector)\nft_forces_measure = np.empty([robot.num_dofs(), 3])\n# matrix that contains the wrench measurement for every joint (6d vector)[torque, force]\nft_wrench_measure = np.empty([robot.num_dofs(), 6])\nct = 0\nfor f_tq_sens in f_tq_sensors:\n ft_torques_measure[ct, :] = f_tq_sens.torque()\n ft_forces_measure[ct, :] = f_tq_sens.force()\n ft_wrench_measure[ct, :] = f_tq_sens.wrench()\n ct += 1\nIMU sensors can be added to every link of the robot:
C++Python// Add IMU sensors to the robot\nct = 0;\nstd::vector<std::shared_ptr<robot_dart::sensor::IMU>> imu_sensors(robot->num_bodies());\nfor (const auto& body_node : robot->body_names()) {\n // _imu(std::make_shared<sensor::IMU>(sensor::IMUConfig(body_node(\"head\"), frequency))),\n imu_sensors[ct++] = simu.add_sensor<robot_dart::sensor::IMU>(robot_dart::sensor::IMUConfig(robot->body_node(body_node), 1000));\n}\n# Add IMU sensors to the robot\nct = 0\nimu_sensors = np.empty(robot.num_bodies(), dtype=rd.sensor.IMU)\nfor body_node in robot.body_names():\n simu.add_sensor(rd.sensor.IMU(\n rd.sensor.IMUConfig(robot.body_node(body_node), 1000)))\n imu_sensors[ct] = simu.sensors()[-1]\n ct += 1\nIMU sensors measure the angular position vector \\(\\boldsymbol{\\theta} \\in \\rm I\\!R^3\\), the angular velocity \\(\\boldsymbol{\\omega} \\in \\rm I\\!R^3\\) and the linear acceleration \\(\\boldsymbol{\\alpha} \\in \\rm I\\!R^3\\) of the attached link:
C++PythonEigen::MatrixXd imu_angular_positions_measure(robot->num_bodies(), 3);\nEigen::MatrixXd imu_angular_velocities_measure(robot->num_bodies(), 3);\nEigen::MatrixXd imu_linear_acceleration_measure(robot->num_bodies(), 3);\nct = 0;\nfor (const auto& imu_sens : imu_sensors) {\n imu_angular_positions_measure.block<1, 3>(ct, 0) = imu_sens->angular_position_vec();\n imu_angular_velocities_measure.block<1, 3>(ct, 0) = imu_sens->angular_velocity();\n imu_linear_acceleration_measure.block<1, 3>(ct, 0) = imu_sens->linear_acceleration();\n ct++;\n}\nimu_angular_positions_measure = np.empty([robot.num_bodies(), 3])\nimu_angular_velocities_measure = np.empty([robot.num_bodies(), 3])\nimu_linear_acceleration_measure = np.empty([robot.num_bodies(), 3])\nct = 0\nfor imu_sens in imu_sensors:\n imu_angular_positions_measure[ct,:] = imu_sens.angular_position_vec()\n imu_angular_velocities_measure[ct, :] = imu_sens.angular_velocity()\n imu_linear_acceleration_measure[ct,:] = imu_sens.linear_acceleration()\n ct += 1\nAny camera can be used as an RGB sensor:
C++Python// a nested std::vector (w*h*3) of the last image taken can be retrieved\nauto rgb_image = camera->image();\n# a nested array (w*h*3) of the last image taken can be retrieved\nrgb_image = camera.image()\nWe can easily save the image and/or transform it to grayscale:
C++Python// a nested std::vector (w*h*3) of the last image taken can be retrieved\nauto rgb_image = camera->image();\n# a nested array (w*h*3) of the last image taken can be retrieved\nrgb_image = camera.image()\nAny camera can also be configured to also record depth:
C++Pythoncamera->camera().record(true, true); // cameras are recording color images by default, enable depth images as well for this example\n# cameras are recording color images by default, enable depth images as well for this example\ncamera.camera().record(True, True)\nWe can then read the RGB and depth images:
C++Python// get the depth image from a camera\n// with a version for visualization or bigger differences in the output\nauto rgb_d_image = camera->depth_image();\n// and the raw values that can be used along with the camera parameters to transform the image to point-cloud\nauto rgb_d_image_raw = camera->raw_depth_image();\n# get the depth image from a camera\n# with a version for visualization or bigger differences in the output\nrgb_d_image = camera.depth_image()\n# and the raw values that can be used along with the camera parameters to transform the image to point-cloud\nrgb_d_image_raw = camera.raw_depth_image()\nWe can save the depth images as well:
C++Pythonrobot_dart::gui::save_png_image(\"camera-depth.png\", rgb_d_image);\nrobot_dart::gui::save_png_image(\"camera-depth-raw.png\", rgb_d_image_raw);\nrd.gui.save_png_image(\"camera-depth.png\", rgb_d_image)\nrd.gui.save_png_image(\"camera-depth-raw.png\", rgb_d_image_raw)\nThe best way to do so is to create a Robot pool. With a robot pool you:
Let's see a more practical example:
#include <robot_dart/robot_pool.hpp>\ncreator function and the pool object:namespace pool {\n // This function should load one robot: here we load Talos\n inline std::shared_ptr<robot_dart::Robot> robot_creator()\n {\n return std::make_shared<robot_dart::robots::Talos>();\n }\n\n // To create the object we need to pass the robot_creator function and the number of maximum parallel threads\n robot_dart::RobotPool robot_pool(robot_creator, NUM_THREADS);\n} // namespace pool\nThe creator function is the function responsible for loading your robot. This should basically look like a standalone code to load or create a robot.
// for the example, we run NUM_THREADS threads of eval_robot()\nstd::vector<std::thread> threads(NUM_THREADS * 2); // *2 to see some reuse\nfor (size_t i = 0; i < threads.size(); ++i)\n threads[i] = std::thread(eval_robot, i); // eval_robot is the function that uses the robot\ninline void eval_robot(int i)\n{\n // We get one available robot\n auto robot = pool::robot_pool.get_robot();\n std::cout << \"Robot \" << i << \" got [\" << robot->skeleton() << \"]\" << std::endl;\n\n /// --- some robot_dart code ---\n simulate_robot(robot);\n // --- do something with the result\n\n std::cout << \"End of simulation \" << i << std::endl;\n\n // CRITICAL : free your robot !\n pool::robot_pool.free_robot(robot);\n\n std::cout << \"Robot \" << i << \" freed!\" << std::endl;\n}\nWe have not implemented this feature in Python yet. One can emulate the RobotPool behavior or create a custom parallel robot loader.
Below you can find an example showcasing the use of many worlds with camera sensors in parallel.
C++Python// Load robot from URDF\nauto global_robot = std::make_shared<robot_dart::robots::Iiwa>();\n\nstd::vector<std::thread> workers;\n\n// Set maximum number of parallel GL contexts (this is GPU-dependent)\nrobot_dart::gui::magnum::GlobalData::instance()->set_max_contexts(4);\n\n// We want 15 parallel simulations with different GL context each\nsize_t N_workers = 15;\nstd::mutex mutex;\nsize_t id = 0;\n// Launch the workers\nfor (size_t i = 0; i < N_workers; i++) {\n workers.push_back(std::thread([&] {\n mutex.lock();\n size_t index = id++;\n mutex.unlock();\n\n // Get the GL context -- this is a blocking call\n // will wait until one GL context is available\n // get_gl_context(gl_context); // this call will not sleep between failed queries\n get_gl_context_with_sleep(gl_context, 20); // this call will sleep 20ms between each failed query\n\n // Do the simulation\n auto robot = global_robot->clone();\n\n robot_dart::RobotDARTSimu simu(0.001);\n\n Eigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 3., 0., -M_PI / 4., 0., 0., 0.});\n\n auto controller = std::make_shared<robot_dart::control::PDControl>(ctrl);\n robot->add_controller(controller);\n controller->set_pd(300., 50.);\n\n // Magnum graphics\n robot_dart::gui::magnum::GraphicsConfiguration configuration = robot_dart::gui::magnum::WindowlessGraphics::default_configuration();\n\n configuration.width = 1024;\n configuration.height = 768;\n auto graphics = std::make_shared<robot_dart::gui::magnum::WindowlessGraphics>(configuration);\n simu.set_graphics(graphics);\n // Position the camera differently for each thread to visualize the difference\n graphics->look_at({0.4 * index, 3.5 - index * 0.1, 2.}, {0., 0., 0.25});\n // record images from main camera/graphics\n // graphics->set_recording(true); // WindowlessGLApplication records images by default\n\n simu.add_robot(robot);\n simu.run(6);\n\n // Save the image for verification\n robot_dart::gui::save_png_image(\"camera_\" + std::to_string(index) + \".png\",\n graphics->image());\n\n // Release the GL context for another thread to use\n release_gl_context(gl_context);\n }));\n}\n\n// Wait for all the workers\nfor (size_t i = 0; i < workers.size(); i++) {\n workers[i].join();\n}\nrobot = rd.Robot(\"arm.urdf\", \"arm\", False)\nrobot.fix_to_world()\n\ndef test():\n pid = os.getpid()\n ii = pid%15\n\n # create the controller\n pdcontrol = rd.PDControl([0.0, 1.0, -1.5, 1.0], False)\n\n # clone the robot\n grobot = robot.clone()\n\n # add the controller to the robot\n grobot.add_controller(pdcontrol, 1.)\n pdcontrol.set_pd(200., 20.)\n\n # create the simulation object\n simu = rd.RobotDARTSimu(0.001)\n\n # set the graphics\n graphics = rd.gui.WindowlessGraphics()\n simu.set_graphics(graphics)\n\n graphics.look_at([0.4 * ii, 3.5 - ii * 0.1, 2.], [0., 0., 0.25], [0., 0., 1.])\n\n # add the robot and the floor\n simu.add_robot(grobot)\n simu.add_checkerboard_floor()\n\n # run\n simu.run(20.)\n\n # save last frame for visualization purposes\n img = graphics.image()\n rd.gui.save_png_image('camera-' + str(ii) + '.png', img)\n\n# helper function to run in parallel\ndef runInParallel(N):\n proc = []\n for i in range(N):\n # rd.gui.run_with_gl_context accepts 2 parameters:\n # (func, wait_time_in_ms)\n # the func needs to be of the following format: void(), aka no return, no arguments\n p = Process(target=rd.gui.run_with_gl_context, args=(test, 20))\n p.start()\n proc.append(p)\n for p in proc:\n p.join()\n\nprint('Running parallel evaluations')\nN = 15\nstart = timer()\nrunInParallel(N)\nend = timer()\nprint('Time:', end-start)\nIn C++ you are also able to pre-allocate a custom number of OpenGL contexts so that you can take advantage of stronger GPUs.
"},{"location":"faq/#i-do-not-know-how-to-use-waf-how-can-i-detect-robotdart-from-cmake","title":"I do not know how to use waf. How can I detect RobotDART from CMake?","text":"You need to use waf to build RobotDART, but when installing the library a CMake module is installed. Thus it is possible use RobotDART in your code using CMake. You can find a complete example at cmake/example. In short the CMake would look like this:
RobotDart and Magnum are installed.RobotDart and Magnum are not installed in standard locations, you can either:CMAKE_PREFIX_PATH environment variable: export CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\ncmake: cmake -DRobotDART_DIR=/opt/robot_dart -DMagnum_DIR=/opt/magnum ..\ncmake_minimum_required(VERSION 3.10 FATAL_ERROR)\nproject(robot_dart_example)\n# we ask for Magnum because we want to build the graphics\nfind_package(RobotDART REQUIRED OPTIONAL_COMPONENTS Magnum)\n\nadd_executable(robot_dart_example example.cpp)\n\ntarget_link_libraries(robot_dart_example\n RobotDART::Simu\n)\n\nif(RobotDART_Magnum_FOUND)\n add_executable(robot_dart_example_graphics example.cpp)\n target_link_libraries(robot_dart_example_graphics\n RobotDART::Simu\n RobotDART::Magnum\n )\nendif()\nC++ examples
Python examples
"},{"location":"install/","title":"Manual Installation","text":""},{"location":"install/#manual-installation-of-robotdart","title":"Manual Installation of RobotDART","text":"For the quick installation manual, see the quick installation page.
"},{"location":"install/#dependencies","title":"Dependencies","text":""},{"location":"install/#required","title":"Required","text":"Note: The following instructions are high-level and assume people with some experience in building/installing software.
"},{"location":"install/#installing-system-wide-packages","title":"Installing system-wide packages","text":"For Ubuntu-based distributions (>=20.04) we should use the following commands:
sudo apt-get update\nsudo apt-get install build-essential cmake pkg-config git libboost-regex-dev libboost-system-dev libboost-test-dev pybind11-dev\nsudo apt-get install libdart-all-dev\nFor OSX with brew:
brew install dartsim\nMagnum depends on Corrade and we are going to use a few plugins and extras from the library. We are also going to use Glfw and Glx for the back-end. Follow the instrutions below:
#installation of Glfw and OpenAL\n# Ubuntu\nsudo apt-get install libglfw3-dev libglfw3 libassimp-dev libopenal-dev libglfw3-dev libsdl2-dev libopenexr-dev libdevil-dev libpng-dev libfaad-dev libfreetype6-dev\n# Mac OSX\nbrew install glfw3 openal-soft assimp\n\n# installation of Corrade\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/corrade.git\ncd corrade\nmkdir build && cd build\ncmake -DCMAKE_BUILD_TYPE=Release ..\nmake -j\nsudo make install\n\n# installation of Magnum\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum.git\ncd magnum\nmkdir build && cd build\n# Ubuntu\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSEGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON -DTARGET_EGL=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\n# Mac OSX\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSCGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\nmake -j\nsudo make install\n\n# installation of Magnum Plugins\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-plugins.git\ncd magnum-plugins\nmkdir build && cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_ASSIMPIMPORTER=ON -DWITH_DDSIMPORTER=ON -DWITH_JPEGIMPORTER=ON -DWITH_OPENGEXIMPORTER=ON -DWITH_PNGIMPORTER=ON -DWITH_TINYGLTFIMPORTER=ON -DWITH_STBTRUETYPEFONT=ON .. # this will enable quite a few Magnum Plugins that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\nmake -j\nsudo make install\n\n# installation of Magnum DART Integration (DART needs to be installed) and Eigen Integration\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-integration.git\ncd magnum-integration\nmkdir build && cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_DART=ON -DWITH_EIGEN=ON ..\nmake -j\nsudo make install\n\n# Installation of Magnum Python Bindings (some examples use them but this is optional)\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-bindings.git\ncd magnum-bindings\nmkdir build && cd build\ncmake .. -DMAGNUM_WITH_PYTHON=ON\nmake -j\ncd src/python\nsudo python3 setup.py install\nFor OSX you can also install Magnum via brew: brew install --HEAD mosra/magnum/corrade && brew install --HEAD mosra/magnum/magnum && brew install --HEAD mosra/magnum/magnum-plugins && brew install --HEAD mosra/magnum/magnum-integration --with-dartsim
The compilation of the library is straight-forward:
git clone https://github.com/resibots/robot_dart.gitcd /path/to/repo/root./waf configure./wafTo build the examples, execute this: ./waf examples
Now you can run the examples. For example, to run the arm example you need to type the following: ./build/arm (or ./build/arm_plain to run it without graphics).
To install the library (assuming that you have already compiled it), you need only to run:
./waf installBy default the library will be installed in /usr/local/lib (for this maybe sudo ./waf install might be needed) and a static library will be generated. You can change the defaults as follows:
./waf configure --prefix=/path/to/install/dir --shared./waf installIn short, with --prefix you can change the directory where the library will be installed and if --shared is present a shared library will be created instead of a static one.
For the python bindings of robot_dart, we need numpy to be installed, pybind11 and the python bindings of DART (dartpy).
For numpy one can install it with pip or standard packages. dartpy should be installed via the packages above. If not, please see the installation instructions on the main DART website.
Then the compilation of robot_dart is almost identical as before:
git clone https://github.com/resibots/robot_dart.gitcd /path/to/repo/root./waf configure --python (--python enables the python bindings)./wafPYTHONPATH, e.g. export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.10/site-packages/To run the python examples (for the python examples you need to have enabled the graphics, that is, install Magnum library), run:
cd /path/to/repo/rootpython src/python/example.py or python src/python/example_parallel.pyOne of the most common issue with the python bindings is the fact that DART bindings might be compiled and installed for python 3 and the robot_dart ones for python 2. To force the usage of python 3 for robot_dart, you use python3 ./waf instead of just ./waf in all the commands above.
Anne, T. and Mouret, J.B., 2024. Parametric-Task MAP-Elites. Proceedings of the Genetic and Evolutionary Computation Conference (GECCO). (pdf)
Ivaldi, S. and Ghini, E., 2023, June. Teleoperating a robot for removing asbestos tiles on roofs: insights from a pilot study. In 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 128-133). IEEE. (pdf)
Khadivar, F., Chatzilygeroudis, K. and Billard, A., 2023. Self-correcting quadratic programming-based robot control. IEEE Transactions on Systems, Man, and Cybernetics: Systems. (pdf)
Souza, A.O., Grenier, J., Charpillet, F., Maurice, P. and Ivaldi, S., 2023, June. Towards data-driven predictive control of active upper-body exoskeletons for load carrying. In 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 59-64). IEEE. (pdf)
Chatzilygeroudis, K.I., Tsakonas, C.G. and Vrahatis, M.N., 2023, July. Evolving Dynamic Locomotion Policies in Minutes. In 2023 14th International Conference on Information, Intelligence, Systems & Applications (IISA) (pp. 1-8). IEEE. (pdf)
Tsakonas, C.G. and Chatzilygeroudis, K.I., 2023, July. Effective Skill Learning via Autonomous Goal Representation Learning. In 2023 14th International Conference on Information, Intelligence, Systems & Applications (IISA) (pp. 1-8). IEEE. (pdf)
Totsila, D., Chatzilygeroudis, K., Hadjivelichkov, D., Modugno, V., Hatzilygeroudis, I. and Kanoulas, D., 2023. End-to-End Stable Imitation Learning via Autonomous Neural Dynamic Policies. Life-Long Learning with Human Help (L3H2) Workshop, ICRA. (pdf)
Allard, M., Smith, S.C., Chatzilygeroudis, K., Lim, B. and Cully, A., 2023. Online damage recovery for physical robots with hierarchical quality-diversity. ACM Transactions on Evolutionary Learning, 3(2), pp.1-23. (pdf)
Anne, T., Dalin, E., Bergonzani, I., Ivaldi, S. and Mouret, J.B., 2022. First do not fall: learning to exploit a wall with a damaged humanoid robot. IEEE Robotics and Automation Letters, 7(4), pp.9028-9035. (pdf)
Mayr, M., Ahmad, F., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022, December. Skill-based multi-objective reinforcement learning of industrial robot tasks with planning and knowledge integration. In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 1995-2002). IEEE. (pdf)
Grillotti, L. and Cully, A., 2022. Unsupervised behavior discovery with quality-diversity optimization. IEEE Transactions on Evolutionary Computation, 26(6), pp.1539-1552. (pdf)
Lim, B., Grillotti, L., Bernasconi, L. and Cully, A., 2022, May. Dynamics-aware quality-diversity for efficient learning of skill repertoires. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 5360-5366). IEEE. (pdf)
Tsinganos, K., Chatzilygeroudis, K., Hadjivelichkov, D., Komninos, T., Dermatas, E. and Kanoulas, D., 2022. Behavior policy learning: Learning multi-stage tasks via solution sketches and model-based controllers. Frontiers in Robotics and AI, 9, p.974537. (pdf)
d'Elia, E., Mouret, J.B., Kober, J. and Ivaldi, S., 2022, October. Automatic tuning and selection of whole-body controllers. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 12935-12941). IEEE. (pdf)
Mayr, M., Hvarfner, C., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022, August. Learning skill-based industrial robot tasks with user priors. In 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE) (pp. 1485-1492). IEEE. (pdf)
Allard, M., Smith, S.C., Chatzilygeroudis, K. and Cully, A., 2022, July. Hierarchical quality-diversity for online damage recovery. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 58-67). (pdf)
Mayr, M., Ahmad, F., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022. Combining planning, reasoning and reinforcement learning to solve industrial robot tasks. 2nd Workshop on Trends and Advances in Machine Learning and Automated Reasoning for Intelligent Robots and Systems, IROS. (pdf)
Cully, A., 2021, June. Multi-emitter map-elites: improving quality, diversity and data efficiency with heterogeneous sets of emitters. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 84-92). (pdf)
Mayr, M., Chatzilygeroudis, K., Ahmad, F., Nardi, L. and Krueger, V., 2021, September. Learning of parameters in behavior trees for movement skills. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7572-7579). IEEE. (pdf)
Penco, L., Hoffman, E.M., Modugno, V., Gomes, W., Mouret, J.B. and Ivaldi, S., 2020. Learning robust task priorities and gains for control of redundant robots. IEEE Robotics and Automation Letters, 5(2), pp.2626-2633. (pdf)
Flageat, M. and Cully, A., 2020, July. Fast and stable MAP-Elites in noisy domains using deep grids. In Artificial Life Conference Proceedings 32 (pp. 273-282). One Rogers Street, Cambridge, MA 02142-1209, USA journals-info@ mit. edu: MIT Press. (pdf)
Paul, S., Chatzilygeroudis, K., Ciosek, K., Mouret, J.B., Osborne, M.A. and Whiteson, S., 2020. Robust reinforcement learning with Bayesian optimisation and quadrature. Journal of Machine Learning Research, 21(151), pp.1-31. (pdf)
Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.B., 2018. Reset-free trial-and-error learning for robot damage recovery. Robotics and Autonomous Systems, 100, pp.236-250. (pdf)
Pautrat, R., Chatzilygeroudis, K. and Mouret, J.B., 2018, May. Bayesian optimization with automatic prior selection for data-efficient direct policy search. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (pp. 7571-7578). IEEE. (pdf)
Chatzilygeroudis, K. and Mouret, J.B., 2018, May. Using parameterized black-box priors to scale up model-based policy search for robotics. In 2018 IEEE international conference on robotics and automation (ICRA) (pp. 5121-5128). IEEE. (pdf)
Paul, S., Chatzilygeroudis, K., Ciosek, K., Mouret, J.B., Osborne, M. and Whiteson, S., 2018, April. Alternating optimisation and quadrature for robust control. In Proceedings of the AAAI Conference on Artificial Intelligence (Vol. 32, No. 1). (pdf)
Kaushik, R., Chatzilygeroudis, K. and Mouret, J.B., 2018, October. Multi-objective model-based policy search for data-efficient learning with sparse rewards. In Conference on Robot Learning (pp. 839-855). PMLR. (pdf)
Vassiliades, V., Chatzilygeroudis, K. and Mouret, J.B., 2017. Using centroidal voronoi tessellations to scale up the multidimensional archive of phenotypic elites algorithm. IEEE Transactions on Evolutionary Computation, 22(4), pp.623-630. (pdf)
Mouret, J.B. and Chatzilygeroudis, K., 2017, July. 20 years of reality gap: a few thoughts about simulators in evolutionary robotics. In Proceedings of the genetic and evolutionary computation conference companion (pp. 1121-1124). (pdf)
Papaspyros, V., Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.B., 2016. Safety-aware robot damage recovery using constrained bayesian optimization and simulated priors. BayesOpt '16: Proceedings of the International Workshop \"Bayesian Optimization: Black-box Optimization and Beyond\", NeurIPS. (pdf)
Chatzilygeroudis, K., Cully, A. and Mouret, J.B., 2016. Towards semi-episodic learning for robot damage recovery. AILTA '16: Proceedings of the International Workshop \"AI for Long-term Autonomy\", ICRA. (pdf)
In this page we provide standalone scripts for installing RobotDART for Ubuntu (>=20.04) and OSX. The scripts will install all the required dependencies and RobotDART. Notably, all dependencies that need to be compiled by source and RobotDART will be installed inside the /opt folder. This way, one can be rest assured that their system will be clean.
ffmpeg is needed for enabling the video recording capabilities. You can install this at any time using your favorite package manager (e.g. apt for Ubuntu or brew for Mac OSX).
To quickly install RobotDART on Ubuntu >=20.04, we just need to run ./scripts/install_ubuntu.sh from the root of the repo. In more detail:
git clone https://github.com/resibots/robot_dart.gitcd robot_dart./scripts/install_ubuntu.shThis will install everything needed! Once the script is successfully executed, one should add the following to their ~/.bashrc or ~/.zshrc file (you may need to swap the python version to yours1):
export PATH=/opt/magnum/bin:$PATH\nexport CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\nexport LD_LIBRARY_PATH=/opt/magnum/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH\nexport PYTHONPATH=/opt/robot_dart/lib/python3.10/site-packages:$PYTHONPATH\nTo quickly install RobotDART on Mac OSX, we just need to run ./scripts/install_osx.sh from the root of the repo. In more detail:
git clone https://github.com/resibots/robot_dart.gitcd robot_dart./scripts/install_osx.shThis will install everything needed! Once the script is successfully executed, one should add the following to their ~/.bashrc or ~/.zshrc file (you may need to swap the python version to yours1):
export PATH=/opt/magnum/bin:$PATH\nexport CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\nexport LD_LIBRARY_PATH=/opt/magnum/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH\nexport PYTHONPATH=/opt/robot_dart/lib/python3.10/site-packages:$PYTHONPATH\nYou can run python --version to see your version. We only keep the major.minor (ignoring the patch version)\u00a0\u21a9\u21a9
Every robot is a defined as a URDF, which will be installed $PREFIX/share/utheque. All robots have pre-defined \"robot classes\" that define sensors and other properties; for your custom/new robots, you will have to add the sensors/properties via the generic robot class (or create a new robot class).
The URDF files are loaded using the following rules (see utheque::path()):
current_directory/utheque$ROBOT_DART_PATH/utheque/usr/share/utheque or $HOME/share/utheque)utheque is a separate header-only library that gets installed together with RobotDART (or even alone), that can be used in libraries that do not want to interfere with RobotDART and use the curated URDF files.
Talos is a humanoid robot made by PAL Robotics.
We have two URDF files:
utheque/talos/talos.urdf :Load Talos
C++auto robot = std::make_shared<robot_dart::robots::Talos>();\nrobot = rd.Talos()\nutheque/talos/talos_fast.urdf:talos_fast.urdf is faster because it makes it possible to use the DART collision detector (and has much collision shapes). You should prefer it except if you want to use the grippers (e.g., for manipulation) or are working on self-collisions.
utheque/talos/talos_fast_collision.urdf:talos_fast_collision.urdf is faster than talos.urdf but slower than talos_fast.urdf. You should use it when you need more detail collisions but faster simulation times.
Load Talos Fast
C++// load talos fast\nauto robot = std::make_shared<robot_dart::robots::TalosFastCollision>();\nrobot = rd.TalosFastCollision()\nPlease note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.
"},{"location":"robots/#panda-franka-emika","title":"Panda (Franka Emika)","text":"The Franka is a modern manipulator made by Franka Emika Panda. It is commonly found in many robotics labs.
Load Franka
C++auto robot = std::make_shared<robot_dart::robots::Franka>();\nrobot = rd.Franka()\nThe LBR iiwa is manufactured by KUKA. It is similar to the Panda and is also very common in robotics labs.
Load Iiwa
C++auto robot = std::make_shared<robot_dart::robots::Iiwa>();\nrobot = rd.Iiwa()\nThe iCub is a open source humanoid robot made by the Instituto Italiano di Tecnologia. There are currently 42 iCUbs in the world, and many versions.
Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.
Load iCub
C++auto robot = std::make_shared<robot_dart::robots::ICub>();\n// Set actuator types to VELOCITY motors so that they stay in position without any controller\nrobot->set_actuator_types(\"velocity\");\nrobot_dart::RobotDARTSimu simu(0.001);\nsimu.set_collision_detector(\"fcl\");\nrobot = rd.ICub()\n\n# Set actuator types to VELOCITY motors so that they stay in position without any controller\nrobot.set_actuator_types(\"velocity\")\nsimu = rd.RobotDARTSimu(0.001)\nsimu.set_collision_detector(\"fcl\")\nPrint IMU sensor measurements
C++std::cout << \"Angular Position: \" << robot->imu().angular_position_vec().transpose().format(fmt) << std::endl;\nstd::cout << \"Angular Velocity: \" << robot->imu().angular_velocity().transpose().format(fmt) << std::endl;\nstd::cout << \"Linear Acceleration: \" << robot->imu().linear_acceleration().transpose().format(fmt) << std::endl;\nstd::cout << \"=================================\" << std::endl;\nprint(\"Angular Position: \", robot.imu().angular_position_vec().transpose())\nprint(\"Angular Velocity: \", robot.imu().angular_velocity().transpose())\nprint(\"Linear Acceleration: \", robot.imu().linear_acceleration().transpose())\nprint(\"=================================\" )\nPrint Force-Torque sensor measurements
C++std::cout << \"FT ( force): \" << robot->ft_foot_left().force().transpose().format(fmt) << std::endl;\nstd::cout << \"FT (torque): \" << robot->ft_foot_left().torque().transpose().format(fmt) << std::endl;\nstd::cout << \"=================================\" << std::endl;\nprint(\"FT ( force): \", robot.ft_foot_left().force().transpose())\nprint(\"FT (torque): \", robot.ft_foot_left().torque().transpose())\nprint(\"=================================\")\nA1 is a quadruped robot made by the Unitree Robotics.
Load A1
C++auto robot = std::make_shared<robot_dart::robots::A1>();\nrobot = rd.A1()\nPrint IMU sensor measurements
C++std::cout << \"Angular Position: \" << robot->imu().angular_position_vec().transpose().format(fmt) << std::endl;\nstd::cout << \"Angular Velocity: \" << robot->imu().angular_velocity().transpose().format(fmt) << std::endl;\nstd::cout << \"Linear Acceleration: \" << robot->imu().linear_acceleration().transpose().format(fmt) << std::endl;\nstd::cout << \"=================================\" << std::endl;\nprint( \"Angular Position: \", robot.imu().angular_position_vec().transpose())\nprint( \"Angular Velocity: \", robot.imu().angular_velocity().transpose())\nprint( \"Linear Acceleration: \", robot.imu().linear_acceleration().transpose())\nprint( \"=================================\")\nAdd a depth camera on the head
How can I attach a camera to a moving link?
Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.
"},{"location":"robots/#dynamixel-based-hexapod-robot-inria-and-others","title":"Dynamixel-based hexapod robot (Inria and others)","text":"This hexapod is a simple 6-legged robot based on dynamixel actuators. It is similar to the robot used in the paper `Robots that can adapt like animals' (Cully et al., 2015).
Load Hexapod
C++auto robot = std::make_shared<robot_dart::robots::Hexapod>();\nrobot = rd.Hexapod()\nLoad Pexod
C++auto robot = std::make_shared<robot_dart::Robot>(\"pexod.urdf\");\nrobot = rd.Robot(\"pexod.urdf\");\nLoad Simple Arm
C++auto robot = std::make_shared<robot_dart::robots::Arm>();\nrobot = rd.Arm()\nRobotDART gives you the ability to load custom robots that are defined in URDF, SDF, SKEL or MJCF files. For example, you can load a urdf model using:
Load custom Robot
C++ auto your_robot = std::make_shared<robot_dart::Robot>(\"path/to/model.urdf\");\n your_robot = robot_dart.Robot(\"path/to/model.urdf\")\nLoad custom Robot with packages (e.g STL, DAE meshes)
C++ std::vector<std::pair<std::string, std::string>> your_model_packages = ('model', 'path/to/model/dir');\n auto your_robot = std::make_shared<robot_dart::Robot>(\"path/to/model.urdf\", your_model_packages, \"packages\");\n your_model_packages = [(\"model\", \"path/to/model/dir\")]\n your_robot = robot_dart.Robot(\"path/to/model.urdf\", your_model_packages)\nHere are the classes, structs, unions and interfaces with brief descriptions:
Here is a list of all files with brief descriptions:
Namespace List > Magnum
"},{"location":"api/namespaceMagnum/#namespaces","title":"Namespaces","text":"Type Name namespace GL namespace Platform namespace SceneGraph namespace ShadersThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
Namespace List > Magnum > GL
The documentation for this class was generated from the following file [generated]
Namespace List > Magnum > Platform
The documentation for this class was generated from the following file [generated]
Namespace List > Magnum > SceneGraph
The documentation for this class was generated from the following file [generated]
Namespace List > Magnum > Shaders
"},{"location":"api/namespaceMagnum_1_1Shaders/#namespaces","title":"Namespaces","text":"Type Name namespace ImplementationThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
Namespace List > Magnum > Shaders > Implementation
"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#public-functions","title":"Public Functions","text":"Type Name GL::Shader createCompatibilityShader (const Utility::Resource & rs, GL::Version version, GL::Shader::Type type)"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#function-createcompatibilityshader","title":"function createCompatibilityShader","text":"inline GL::Shader Magnum::Shaders::Implementation::createCompatibilityShader (\n const Utility::Resource & rs,\n GL::Version version,\n GL::Shader::Type type\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
Namespace List > TinyProcessLib
The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.hpp
Namespace List > dart
"},{"location":"api/namespacedart/#namespaces","title":"Namespaces","text":"Type Name namespace collision namespace dynamicsThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
Namespace List > dart > collision
The documentation for this class was generated from the following file [generated]
Namespace List > dart > dynamics
The documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
Namespace List > robot_dart
"},{"location":"api/namespacerobot__dart/#namespaces","title":"Namespaces","text":"Type Name namespace collision_filter namespace control namespace detail namespace gui namespace robots namespace sensor namespace simu"},{"location":"api/namespacerobot__dart/#classes","title":"Classes","text":"Type Name class Assertion class Robot class RobotDARTSimu class RobotPool class Scheduler"},{"location":"api/namespacerobot__dart/#public-attributes","title":"Public Attributes","text":"Type Name auto body_node_get_friction_coeff = = { return body->getFrictionCoeff();\n\n}<br> |\n| auto | body_node_get_restitution_coeff = = {
return body->getRestitutionCoeff();\n\n}<br> |\n| auto | body_node_set_friction_coeff = = {
body->setFrictionCoeff(value);\n\n}<br> |\n| auto | body_node_set_restitution_coeff = = {
body->setRestitutionCoeff(value);\n\n}<br> |\nauto robot_dart::body_node_get_friction_coeff;\nauto robot_dart::body_node_get_restitution_coeff;\nauto robot_dart::body_node_set_friction_coeff;\nauto robot_dart::body_node_set_restitution_coeff;\ninline Eigen::Isometry3d robot_dart::make_tf (\n const Eigen::Matrix3d & R,\n const Eigen::Vector3d & t\n) \ninline Eigen::Isometry3d robot_dart::make_tf (\n const Eigen::Matrix3d & R\n) \ninline Eigen::Isometry3d robot_dart::make_tf (\n const Eigen::Vector3d & t\n) \ninline Eigen::Isometry3d robot_dart::make_tf (\n std::initializer_list< double > args\n) \ninline Eigen::VectorXd robot_dart::make_vector (\n std::initializer_list< double > args\n) \nThe documentation for this class was generated from the following file robot_dart/control/pd_control.cpp
ClassList > robot_dart > Assertion
Inherits the following classes: std::exception
"},{"location":"api/classrobot__dart_1_1Assertion/#public-functions","title":"Public Functions","text":"Type Name Assertion (const std::string & msg=\"\") const char * what () const"},{"location":"api/classrobot__dart_1_1Assertion/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Assertion/#function-assertion","title":"function Assertion","text":"inline robot_dart::Assertion::Assertion (\n const std::string & msg=\"\"\n) \ninline const char * robot_dart::Assertion::what () const\nThe documentation for this class was generated from the following file robot_dart/utils.hpp
ClassList > robot_dart > Robot
Inherits the following classes: std::enable_shared_from_this< Robot >
Inherited by the following classes: robot_dart::robots::A1, robot_dart::robots::Arm, robot_dart::robots::Franka, robot_dart::robots::Hexapod, robot_dart::robots::ICub, robot_dart::robots::Iiwa, robot_dart::robots::Pendulum, robot_dart::robots::Talos, robot_dart::robots::Tiago, robot_dart::robots::Ur3e, robot_dart::robots::Vx300
"},{"location":"api/classrobot__dart_1_1Robot/#public-functions","title":"Public Functions","text":"Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1Robot/#public-static-functions","title":"Public Static Functions","text":"Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1Robot/#protected-attributes","title":"Protected Attributes","text":"Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1Robot/#protected-functions","title":"Protected Functions","text":"Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1Robot/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#function-robot-13","title":"function Robot [\u2153]","text":"robot_dart::Robot::Robot (\n const std::string & model_file,\n const std::vector< std::pair< std::string, std::string > > & packages,\n const std::string & robot_name=\"robot\",\n bool is_urdf_string=false,\n bool cast_shadows=true\n) \nrobot_dart::Robot::Robot (\n const std::string & model_file,\n const std::string & robot_name=\"robot\",\n bool is_urdf_string=false,\n bool cast_shadows=true\n) \nrobot_dart::Robot::Robot (\n dart::dynamics::SkeletonPtr skeleton,\n const std::string & robot_name=\"robot\",\n bool cast_shadows=true\n) \nEigen::VectorXd robot_dart::Robot::acceleration_lower_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::acceleration_upper_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::accelerations (\n const std::vector< std::string > & dof_names={}\n) const\nstd::vector< std::shared_ptr< control::RobotControl > > robot_dart::Robot::active_controllers () const\nstd::string robot_dart::Robot::actuator_type (\n const std::string & joint_name\n) const\nstd::vector< std::string > robot_dart::Robot::actuator_types (\n const std::vector< std::string > & joint_names={}\n) const\nvoid robot_dart::Robot::add_body_mass (\n const std::string & body_name,\n double mass\n) \nvoid robot_dart::Robot::add_body_mass (\n size_t body_index,\n double mass\n) \nvoid robot_dart::Robot::add_controller (\n const std::shared_ptr< control::RobotControl > & controller,\n double weight=1.0\n) \nvoid robot_dart::Robot::add_external_force (\n const std::string & body_name,\n const Eigen::Vector3d & force,\n const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(),\n bool force_local=false,\n bool offset_local=true\n) \nvoid robot_dart::Robot::add_external_force (\n size_t body_index,\n const Eigen::Vector3d & force,\n const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(),\n bool force_local=false,\n bool offset_local=true\n) \nvoid robot_dart::Robot::add_external_torque (\n const std::string & body_name,\n const Eigen::Vector3d & torque,\n bool local=false\n) \nvoid robot_dart::Robot::add_external_torque (\n size_t body_index,\n const Eigen::Vector3d & torque,\n bool local=false\n) \nbool robot_dart::Robot::adjacent_colliding () const\nEigen::MatrixXd robot_dart::Robot::aug_mass_matrix (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::Isometry3d robot_dart::Robot::base_pose () const\nEigen::Vector6d robot_dart::Robot::base_pose_vec () const\nEigen::Vector6d robot_dart::Robot::body_acceleration (\n const std::string & body_name\n) const\nEigen::Vector6d robot_dart::Robot::body_acceleration (\n size_t body_index\n) const\nsize_t robot_dart::Robot::body_index (\n const std::string & body_name\n) const\ndouble robot_dart::Robot::body_mass (\n const std::string & body_name\n) const\ndouble robot_dart::Robot::body_mass (\n size_t body_index\n) const\nstd::string robot_dart::Robot::body_name (\n size_t body_index\n) const\nstd::vector< std::string > robot_dart::Robot::body_names () const\ndart::dynamics::BodyNode * robot_dart::Robot::body_node (\n const std::string & body_name\n) \ndart::dynamics::BodyNode * robot_dart::Robot::body_node (\n size_t body_index\n) \nEigen::Isometry3d robot_dart::Robot::body_pose (\n const std::string & body_name\n) const\nEigen::Isometry3d robot_dart::Robot::body_pose (\n size_t body_index\n) const\nEigen::Vector6d robot_dart::Robot::body_pose_vec (\n const std::string & body_name\n) const\nEigen::Vector6d robot_dart::Robot::body_pose_vec (\n size_t body_index\n) const\nEigen::Vector6d robot_dart::Robot::body_velocity (\n const std::string & body_name\n) const\nEigen::Vector6d robot_dart::Robot::body_velocity (\n size_t body_index\n) const\nbool robot_dart::Robot::cast_shadows () const\nvoid robot_dart::Robot::clear_controllers () \nvoid robot_dart::Robot::clear_external_forces () \nvoid robot_dart::Robot::clear_internal_forces () \nstd::shared_ptr< Robot > robot_dart::Robot::clone () const\nstd::shared_ptr< Robot > robot_dart::Robot::clone_ghost (\n const std::string & ghost_name=\"ghost\",\n const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}\n) const\nEigen::Vector3d robot_dart::Robot::com () const\nEigen::Vector6d robot_dart::Robot::com_acceleration () const\nEigen::MatrixXd robot_dart::Robot::com_jacobian (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::com_jacobian_deriv (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::Vector6d robot_dart::Robot::com_velocity () const\nEigen::VectorXd robot_dart::Robot::commands (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::constraint_forces (\n const std::vector< std::string > & dof_names={}\n) const\nstd::shared_ptr< control::RobotControl > robot_dart::Robot::controller (\n size_t index\n) const\nstd::vector< std::shared_ptr< control::RobotControl > > robot_dart::Robot::controllers () const\nEigen::VectorXd robot_dart::Robot::coriolis_forces (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::coriolis_gravity_forces (\n const std::vector< std::string > & dof_names={}\n) const\nstd::vector< double > robot_dart::Robot::coulomb_coeffs (\n const std::vector< std::string > & dof_names={}\n) const\nstd::vector< double > robot_dart::Robot::damping_coeffs (\n const std::vector< std::string > & dof_names={}\n) const\ndart::dynamics::DegreeOfFreedom * robot_dart::Robot::dof (\n const std::string & dof_name\n) \ndart::dynamics::DegreeOfFreedom * robot_dart::Robot::dof (\n size_t dof_index\n) \nsize_t robot_dart::Robot::dof_index (\n const std::string & dof_name\n) const\nconst std::unordered_map< std::string, size_t > & robot_dart::Robot::dof_map () const\nstd::string robot_dart::Robot::dof_name (\n size_t dof_index\n) const\nstd::vector< std::string > robot_dart::Robot::dof_names (\n bool filter_mimics=false,\n bool filter_locked=false,\n bool filter_passive=false\n) const\nconst std::vector< std::pair< dart::dynamics::BodyNode *, double > > & robot_dart::Robot::drawing_axes () const\nEigen::Vector6d robot_dart::Robot::external_forces (\n const std::string & body_name\n) const\nEigen::Vector6d robot_dart::Robot::external_forces (\n size_t body_index\n) const\nvoid robot_dart::Robot::fix_to_world () \nbool robot_dart::Robot::fixed () const\nEigen::VectorXd robot_dart::Robot::force_lower_limits (\n const std::vector< std::string > & dof_names={}\n) const\nvoid robot_dart::Robot::force_position_bounds () \nstd::pair< Eigen::Vector6d, Eigen::Vector6d > robot_dart::Robot::force_torque (\n size_t joint_index\n) const\nEigen::VectorXd robot_dart::Robot::force_upper_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::forces (\n const std::vector< std::string > & dof_names={}\n) const\nbool robot_dart::Robot::free () const\nvoid robot_dart::Robot::free_from_world (\n const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()\n) \ndouble robot_dart::Robot::friction_coeff (\n const std::string & body_name\n) \ndouble robot_dart::Robot::friction_coeff (\n size_t body_index\n) \nEigen::Vector3d robot_dart::Robot::friction_dir (\n const std::string & body_name\n) \nEigen::Vector3d robot_dart::Robot::friction_dir (\n size_t body_index\n) \nbool robot_dart::Robot::ghost () const\nEigen::VectorXd robot_dart::Robot::gravity_forces (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::inv_aug_mass_matrix (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::inv_mass_matrix (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::jacobian (\n const std::string & body_name,\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::jacobian_deriv (\n const std::string & body_name,\n const std::vector< std::string > & dof_names={}\n) const\ndart::dynamics::Joint * robot_dart::Robot::joint (\n const std::string & joint_name\n) \ndart::dynamics::Joint * robot_dart::Robot::joint (\n size_t joint_index\n) \nsize_t robot_dart::Robot::joint_index (\n const std::string & joint_name\n) const\nconst std::unordered_map< std::string, size_t > & robot_dart::Robot::joint_map () const\nstd::string robot_dart::Robot::joint_name (\n size_t joint_index\n) const\nstd::vector< std::string > robot_dart::Robot::joint_names () const\nstd::vector< std::string > robot_dart::Robot::locked_dof_names () const\nEigen::MatrixXd robot_dart::Robot::mass_matrix (\n const std::vector< std::string > & dof_names={}\n) const\nstd::vector< std::string > robot_dart::Robot::mimic_dof_names () const\ninline const std::string & robot_dart::Robot::model_filename () const\ninline const std::vector< std::pair< std::string, std::string > > & robot_dart::Robot::model_packages () const\nconst std::string & robot_dart::Robot::name () const\nsize_t robot_dart::Robot::num_bodies () const\nsize_t robot_dart::Robot::num_controllers () const\nsize_t robot_dart::Robot::num_dofs () const\nsize_t robot_dart::Robot::num_joints () const\nstd::vector< std::string > robot_dart::Robot::passive_dof_names () const\nstd::vector< bool > robot_dart::Robot::position_enforced (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::position_lower_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::position_upper_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::positions (\n const std::vector< std::string > & dof_names={}\n) const\nvoid robot_dart::Robot::reinit_controllers () \nvoid robot_dart::Robot::remove_all_drawing_axis () \nvoid robot_dart::Robot::remove_controller (\n const std::shared_ptr< control::RobotControl > & controller\n) \nvoid robot_dart::Robot::remove_controller (\n size_t index\n) \nvirtual void robot_dart::Robot::reset () \nvoid robot_dart::Robot::reset_commands () \ndouble robot_dart::Robot::restitution_coeff (\n const std::string & body_name\n) \ndouble robot_dart::Robot::restitution_coeff (\n size_t body_index\n) \ndouble robot_dart::Robot::secondary_friction_coeff (\n const std::string & body_name\n) \ndouble robot_dart::Robot::secondary_friction_coeff (\n size_t body_index\n) \nbool robot_dart::Robot::self_colliding () const\nvoid robot_dart::Robot::set_acceleration_lower_limits (\n const Eigen::VectorXd & accelerations,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_acceleration_upper_limits (\n const Eigen::VectorXd & accelerations,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_accelerations (\n const Eigen::VectorXd & accelerations,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_actuator_type (\n const std::string & type,\n const std::string & joint_name,\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::set_actuator_types (\n const std::string & type,\n const std::vector< std::string > & joint_names={},\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::set_base_pose (\n const Eigen::Isometry3d & tf\n) \nvoid robot_dart::Robot::set_base_pose (\n const Eigen::Vector6d & pose\n) \nvoid robot_dart::Robot::set_body_mass (\n const std::string & body_name,\n double mass\n) \nvoid robot_dart::Robot::set_body_mass (\n size_t body_index,\n double mass\n) \nvoid robot_dart::Robot::set_body_name (\n size_t body_index,\n const std::string & body_name\n) \nvoid robot_dart::Robot::set_cast_shadows (\n bool cast_shadows=true\n) \nvoid robot_dart::Robot::set_color_mode (\n const std::string & color_mode\n) \nvoid robot_dart::Robot::set_color_mode (\n const std::string & color_mode,\n const std::string & body_name\n) \nvoid robot_dart::Robot::set_commands (\n const Eigen::VectorXd & commands,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_coulomb_coeffs (\n const std::vector< double > & cfrictions,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_coulomb_coeffs (\n double cfriction,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_damping_coeffs (\n const std::vector< double > & damps,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_damping_coeffs (\n double damp,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_draw_axis (\n const std::string & body_name,\n double size=0.25\n) \nvoid robot_dart::Robot::set_external_force (\n const std::string & body_name,\n const Eigen::Vector3d & force,\n const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(),\n bool force_local=false,\n bool offset_local=true\n) \nvoid robot_dart::Robot::set_external_force (\n size_t body_index,\n const Eigen::Vector3d & force,\n const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(),\n bool force_local=false,\n bool offset_local=true\n) \nvoid robot_dart::Robot::set_external_torque (\n const std::string & body_name,\n const Eigen::Vector3d & torque,\n bool local=false\n) \nvoid robot_dart::Robot::set_external_torque (\n size_t body_index,\n const Eigen::Vector3d & torque,\n bool local=false\n) \nvoid robot_dart::Robot::set_force_lower_limits (\n const Eigen::VectorXd & forces,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_force_upper_limits (\n const Eigen::VectorXd & forces,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_forces (\n const Eigen::VectorXd & forces,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_friction_coeff (\n const std::string & body_name,\n double value\n) \nvoid robot_dart::Robot::set_friction_coeff (\n size_t body_index,\n double value\n) \nvoid robot_dart::Robot::set_friction_coeffs (\n double value\n) \nvoid robot_dart::Robot::set_friction_dir (\n const std::string & body_name,\n const Eigen::Vector3d & direction\n) \nvoid robot_dart::Robot::set_friction_dir (\n size_t body_index,\n const Eigen::Vector3d & direction\n) \nvoid robot_dart::Robot::set_ghost (\n bool ghost=true\n) \nvoid robot_dart::Robot::set_joint_name (\n size_t joint_index,\n const std::string & joint_name\n) \nvoid robot_dart::Robot::set_mimic (\n const std::string & joint_name,\n const std::string & mimic_joint_name,\n double multiplier=1.,\n double offset=0.\n) \nvoid robot_dart::Robot::set_position_enforced (\n const std::vector< bool > & enforced,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_position_enforced (\n bool enforced,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_position_lower_limits (\n const Eigen::VectorXd & positions,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_position_upper_limits (\n const Eigen::VectorXd & positions,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_positions (\n const Eigen::VectorXd & positions,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_restitution_coeff (\n const std::string & body_name,\n double value\n) \nvoid robot_dart::Robot::set_restitution_coeff (\n size_t body_index,\n double value\n) \nvoid robot_dart::Robot::set_restitution_coeffs (\n double value\n) \nvoid robot_dart::Robot::set_secondary_friction_coeff (\n const std::string & body_name,\n double value\n) \nvoid robot_dart::Robot::set_secondary_friction_coeff (\n size_t body_index,\n double value\n) \nvoid robot_dart::Robot::set_secondary_friction_coeffs (\n double value\n) \nvoid robot_dart::Robot::set_self_collision (\n bool enable_self_collisions=true,\n bool enable_adjacent_collisions=false\n) \nvoid robot_dart::Robot::set_spring_stiffnesses (\n const std::vector< double > & stiffnesses,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_spring_stiffnesses (\n double stiffness,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_velocities (\n const Eigen::VectorXd & velocities,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_velocity_lower_limits (\n const Eigen::VectorXd & velocities,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_velocity_upper_limits (\n const Eigen::VectorXd & velocities,\n const std::vector< std::string > & dof_names={}\n) \ndart::dynamics::SkeletonPtr robot_dart::Robot::skeleton () \nstd::vector< double > robot_dart::Robot::spring_stiffnesses (\n const std::vector< std::string > & dof_names={}\n) const\nvoid robot_dart::Robot::update (\n double t\n) \nvoid robot_dart::Robot::update_joint_dof_maps () \nEigen::VectorXd robot_dart::Robot::vec_dof (\n const Eigen::VectorXd & vec,\n const std::vector< std::string > & dof_names\n) const\nEigen::VectorXd robot_dart::Robot::velocities (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::velocity_lower_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::velocity_upper_limits (\n const std::vector< std::string > & dof_names={}\n) const\ninline virtual robot_dart::Robot::~Robot () \nstatic std::shared_ptr< Robot > robot_dart::Robot::create_box (\n const Eigen::Vector3d & dims,\n const Eigen::Isometry3d & tf,\n const std::string & type=\"free\",\n double mass=1.0,\n const Eigen::Vector4d & color=dart::Color::Red(1.0),\n const std::string & box_name=\"box\"\n) \nstatic std::shared_ptr< Robot > robot_dart::Robot::create_box (\n const Eigen::Vector3d & dims,\n const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(),\n const std::string & type=\"free\",\n double mass=1.0,\n const Eigen::Vector4d & color=dart::Color::Red(1.0),\n const std::string & box_name=\"box\"\n) \nstatic std::shared_ptr< Robot > robot_dart::Robot::create_ellipsoid (\n const Eigen::Vector3d & dims,\n const Eigen::Isometry3d & tf,\n const std::string & type=\"free\",\n double mass=1.0,\n const Eigen::Vector4d & color=dart::Color::Red(1.0),\n const std::string & ellipsoid_name=\"ellipsoid\"\n) \nstatic std::shared_ptr< Robot > robot_dart::Robot::create_ellipsoid (\n const Eigen::Vector3d & dims,\n const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(),\n const std::string & type=\"free\",\n double mass=1.0,\n const Eigen::Vector4d & color=dart::Color::Red(1.0),\n const std::string & ellipsoid_name=\"ellipsoid\"\n) \nstd::vector<std::pair<dart::dynamics::BodyNode*, double> > robot_dart::Robot::_axis_shapes;\nbool robot_dart::Robot::_cast_shadows;\nstd::vector<std::shared_ptr<control::RobotControl> > robot_dart::Robot::_controllers;\nstd::unordered_map<std::string, size_t> robot_dart::Robot::_dof_map;\nbool robot_dart::Robot::_is_ghost;\nstd::unordered_map<std::string, size_t> robot_dart::Robot::_joint_map;\nstd::string robot_dart::Robot::_model_filename;\nstd::vector<std::pair<std::string, std::string> > robot_dart::Robot::_packages;\nstd::string robot_dart::Robot::_robot_name;\ndart::dynamics::SkeletonPtr robot_dart::Robot::_skeleton;\ndart::dynamics::Joint::ActuatorType robot_dart::Robot::_actuator_type (\n size_t joint_index\n) const\nstd::vector< dart::dynamics::Joint::ActuatorType > robot_dart::Robot::_actuator_types () const\nstd::string robot_dart::Robot::_get_path (\n const std::string & filename\n) const\nEigen::MatrixXd robot_dart::Robot::_jacobian (\n const Eigen::MatrixXd & full_jacobian,\n const std::vector< std::string > & dof_names\n) const\ndart::dynamics::SkeletonPtr robot_dart::Robot::_load_model (\n const std::string & filename,\n const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(),\n bool is_urdf_string=false\n) \nEigen::MatrixXd robot_dart::Robot::_mass_matrix (\n const Eigen::MatrixXd & full_mass_matrix,\n const std::vector< std::string > & dof_names\n) const\ninline virtual void robot_dart::Robot::_post_addition (\n RobotDARTSimu *\n) \ninline virtual void robot_dart::Robot::_post_removal (\n RobotDARTSimu *\n) \nvoid robot_dart::Robot::_set_actuator_type (\n size_t joint_index,\n dart::dynamics::Joint::ActuatorType type,\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::_set_actuator_types (\n const std::vector< dart::dynamics::Joint::ActuatorType > & types,\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::_set_actuator_types (\n dart::dynamics::Joint::ActuatorType type,\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::_set_color_mode (\n dart::dynamics::MeshShape::ColorMode color_mode,\n dart::dynamics::SkeletonPtr skel\n) \nvoid robot_dart::Robot::_set_color_mode (\n dart::dynamics::MeshShape::ColorMode color_mode,\n dart::dynamics::ShapeNode * sn\n) \nThe documentation for this class was generated from the following file robot_dart/robot.hpp
ClassList > robot_dart > RobotDARTSimu
"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-types","title":"Public Types","text":"Type Name typedef std::shared_ptr< Robot > robot_t"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-functions","title":"Public Functions","text":"Type Name RobotDARTSimu (double timestep=0.015) std::shared_ptr< Robot > add_checkerboard_floor (double floor_width=10.0, double floor_height=0.1, double size=1., const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(), const std::string & floor_name=\"checkerboard_floor\", const Eigen::Vector4d & first_color=dart::Color::White(1.), const Eigen::Vector4d & second_color=dart::Color::Gray(1.)) std::shared_ptr< Robot > add_floor (double floor_width=10.0, double floor_height=0.1, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(), const std::string & floor_name=\"floor\") void add_robot (const robot_t & robot) std::shared_ptr< T > add_sensor (Args &&... args) void add_sensor (const std::shared_ptr< sensor::Sensor > & sensor) std::shared_ptr< simu::TextData > add_text (const std::string & text, const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2<< 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28) void add_visual_robot (const robot_t & robot) void clear_robots () void clear_sensors () uint32_t collision_category (size_t robot_index, const std::string & body_name) uint32_t collision_category (size_t robot_index, size_t body_index) const std::string & collision_detector () const uint32_t collision_mask (size_t robot_index, const std::string & body_name) uint32_t collision_mask (size_t robot_index, size_t body_index) std::pair< uint32_t, uint32_t > collision_masks (size_t robot_index, const std::string & body_name) std::pair< uint32_t, uint32_t > collision_masks (size_t robot_index, size_t body_index) int control_freq () const void enable_status_bar (bool enable=true, double font_size=-1) void enable_text_panel (bool enable=true, double font_size=-1) std::shared_ptr< gui::Base > graphics () const int graphics_freq () const Eigen::Vector3d gravity () const simu::GUIData * gui_data () bool halted_sim () const size_t num_robots () const int physics_freq () const void remove_all_collision_masks () void remove_collision_masks (size_t robot_index) void remove_collision_masks (size_t robot_index, const std::string & body_name) void remove_collision_masks (size_t robot_index, size_t body_index) void remove_robot (const robot_t & robot) void remove_robot (size_t index) void remove_sensor (const std::shared_ptr< sensor::Sensor > & sensor) void remove_sensor (size_t index) void remove_sensors (const std::string & type) robot_t robot (size_t index) const int robot_index (const robot_t & robot) const const std::vector< robot_t > & robots () const void run (double max_duration=5.0, bool reset_commands=false, bool force_position_bounds=true) bool schedule (int freq) Scheduler & scheduler () const Scheduler & scheduler () const std::shared_ptr< sensor::Sensor > sensor (size_t index) const std::vector< std::shared_ptr< sensor::Sensor > > sensors () const void set_collision_detector (const std::string & collision_detector) void set_collision_masks (size_t robot_index, uint32_t category_mask, uint32_t collision_mask) void set_collision_masks (size_t robot_index, const std::string & body_name, uint32_t category_mask, uint32_t collision_mask) void set_collision_masks (size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask) void set_control_freq (int frequency) void set_graphics (const std::shared_ptr< gui::Base > & graphics) void set_graphics_freq (int frequency) void set_gravity (const Eigen::Vector3d & gravity) void set_text_panel (const std::string & str) void set_timestep (double timestep, bool update_control_freq=true) std::string status_bar_text () const bool step (bool reset_commands=false, bool force_position_bounds=true) bool step_world (bool reset_commands=false, bool force_position_bounds=true) void stop_sim (bool disable=true) std::string text_panel_text () const double timestep () const dart::simulation::WorldPtr world () ~RobotDARTSimu ()"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _break int _control_freq = = -1 std::shared_ptr< gui::Base > _graphics int _graphics_freq = = 40 std::unique_ptr< simu::GUIData > _gui_data size_t _old_index int _physics_freq = = -1 std::vector< robot_t > _robots Scheduler _scheduler std::vector< std::shared_ptr< sensor::Sensor > > _sensors std::shared_ptr< simu::TextData > _status_bar = = nullptr std::shared_ptr< simu::TextData > _text_panel = = nullptr dart::simulation::WorldPtr _world"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-functions","title":"Protected Functions","text":"Type Name void _enable (std::shared_ptr< simu::TextData > & text, bool enable, double font_size)"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#typedef-robot_t","title":"typedef robot_t","text":"using robot_dart::RobotDARTSimu::robot_t = std::shared_ptr<Robot>;\nrobot_dart::RobotDARTSimu::RobotDARTSimu (\n double timestep=0.015\n) \nstd::shared_ptr< Robot > robot_dart::RobotDARTSimu::add_checkerboard_floor (\n double floor_width=10.0,\n double floor_height=0.1,\n double size=1.,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(),\n const std::string & floor_name=\"checkerboard_floor\",\n const Eigen::Vector4d & first_color=dart::Color::White(1.),\n const Eigen::Vector4d & second_color=dart::Color::Gray(1.)\n) \nstd::shared_ptr< Robot > robot_dart::RobotDARTSimu::add_floor (\n double floor_width=10.0,\n double floor_height=0.1,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(),\n const std::string & floor_name=\"floor\"\n) \nvoid robot_dart::RobotDARTSimu::add_robot (\n const robot_t & robot\n) \ntemplate<typename T, typename... Args>\ninline std::shared_ptr< T > robot_dart::RobotDARTSimu::add_sensor (\n Args &&... args\n) \nvoid robot_dart::RobotDARTSimu::add_sensor (\n const std::shared_ptr< sensor::Sensor > & sensor\n) \nstd::shared_ptr< simu::TextData > robot_dart::RobotDARTSimu::add_text (\n const std::string & text,\n const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(),\n Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),\n std::uint8_t alignment=2<< 2,\n bool draw_bg=false,\n Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),\n double font_size=28\n) \nvoid robot_dart::RobotDARTSimu::add_visual_robot (\n const robot_t & robot\n) \nvoid robot_dart::RobotDARTSimu::clear_robots () \nvoid robot_dart::RobotDARTSimu::clear_sensors () \nuint32_t robot_dart::RobotDARTSimu::collision_category (\n size_t robot_index,\n const std::string & body_name\n) \nuint32_t robot_dart::RobotDARTSimu::collision_category (\n size_t robot_index,\n size_t body_index\n) \nconst std::string & robot_dart::RobotDARTSimu::collision_detector () const\nuint32_t robot_dart::RobotDARTSimu::collision_mask (\n size_t robot_index,\n const std::string & body_name\n) \nuint32_t robot_dart::RobotDARTSimu::collision_mask (\n size_t robot_index,\n size_t body_index\n) \nstd::pair< uint32_t, uint32_t > robot_dart::RobotDARTSimu::collision_masks (\n size_t robot_index,\n const std::string & body_name\n) \nstd::pair< uint32_t, uint32_t > robot_dart::RobotDARTSimu::collision_masks (\n size_t robot_index,\n size_t body_index\n) \ninline int robot_dart::RobotDARTSimu::control_freq () const\nvoid robot_dart::RobotDARTSimu::enable_status_bar (\n bool enable=true,\n double font_size=-1\n) \nvoid robot_dart::RobotDARTSimu::enable_text_panel (\n bool enable=true,\n double font_size=-1\n) \nstd::shared_ptr< gui::Base > robot_dart::RobotDARTSimu::graphics () const\ninline int robot_dart::RobotDARTSimu::graphics_freq () const\nEigen::Vector3d robot_dart::RobotDARTSimu::gravity () const\nsimu::GUIData * robot_dart::RobotDARTSimu::gui_data () \nbool robot_dart::RobotDARTSimu::halted_sim () const\nsize_t robot_dart::RobotDARTSimu::num_robots () const\ninline int robot_dart::RobotDARTSimu::physics_freq () const\nvoid robot_dart::RobotDARTSimu::remove_all_collision_masks () \nvoid robot_dart::RobotDARTSimu::remove_collision_masks (\n size_t robot_index\n) \nvoid robot_dart::RobotDARTSimu::remove_collision_masks (\n size_t robot_index,\n const std::string & body_name\n) \nvoid robot_dart::RobotDARTSimu::remove_collision_masks (\n size_t robot_index,\n size_t body_index\n) \nvoid robot_dart::RobotDARTSimu::remove_robot (\n const robot_t & robot\n) \nvoid robot_dart::RobotDARTSimu::remove_robot (\n size_t index\n) \nvoid robot_dart::RobotDARTSimu::remove_sensor (\n const std::shared_ptr< sensor::Sensor > & sensor\n) \nvoid robot_dart::RobotDARTSimu::remove_sensor (\n size_t index\n) \nvoid robot_dart::RobotDARTSimu::remove_sensors (\n const std::string & type\n) \nrobot_t robot_dart::RobotDARTSimu::robot (\n size_t index\n) const\nint robot_dart::RobotDARTSimu::robot_index (\n const robot_t & robot\n) const\nconst std::vector< robot_t > & robot_dart::RobotDARTSimu::robots () const\nvoid robot_dart::RobotDARTSimu::run (\n double max_duration=5.0,\n bool reset_commands=false,\n bool force_position_bounds=true\n) \ninline bool robot_dart::RobotDARTSimu::schedule (\n int freq\n) \ninline Scheduler & robot_dart::RobotDARTSimu::scheduler () \ninline const Scheduler & robot_dart::RobotDARTSimu::scheduler () const\nstd::shared_ptr< sensor::Sensor > robot_dart::RobotDARTSimu::sensor (\n size_t index\n) const\nstd::vector< std::shared_ptr< sensor::Sensor > > robot_dart::RobotDARTSimu::sensors () const\nvoid robot_dart::RobotDARTSimu::set_collision_detector (\n const std::string & collision_detector\n) \nvoid robot_dart::RobotDARTSimu::set_collision_masks (\n size_t robot_index,\n uint32_t category_mask,\n uint32_t collision_mask\n) \nvoid robot_dart::RobotDARTSimu::set_collision_masks (\n size_t robot_index,\n const std::string & body_name,\n uint32_t category_mask,\n uint32_t collision_mask\n) \nvoid robot_dart::RobotDARTSimu::set_collision_masks (\n size_t robot_index,\n size_t body_index,\n uint32_t category_mask,\n uint32_t collision_mask\n) \ninline void robot_dart::RobotDARTSimu::set_control_freq (\n int frequency\n) \nvoid robot_dart::RobotDARTSimu::set_graphics (\n const std::shared_ptr< gui::Base > & graphics\n) \ninline void robot_dart::RobotDARTSimu::set_graphics_freq (\n int frequency\n) \nvoid robot_dart::RobotDARTSimu::set_gravity (\n const Eigen::Vector3d & gravity\n) \nvoid robot_dart::RobotDARTSimu::set_text_panel (\n const std::string & str\n) \nvoid robot_dart::RobotDARTSimu::set_timestep (\n double timestep,\n bool update_control_freq=true\n) \nstd::string robot_dart::RobotDARTSimu::status_bar_text () const\nbool robot_dart::RobotDARTSimu::step (\n bool reset_commands=false,\n bool force_position_bounds=true\n) \nbool robot_dart::RobotDARTSimu::step_world (\n bool reset_commands=false,\n bool force_position_bounds=true\n) \nvoid robot_dart::RobotDARTSimu::stop_sim (\n bool disable=true\n) \nstd::string robot_dart::RobotDARTSimu::text_panel_text () const\ndouble robot_dart::RobotDARTSimu::timestep () const\ndart::simulation::WorldPtr robot_dart::RobotDARTSimu::world () \nrobot_dart::RobotDARTSimu::~RobotDARTSimu () \nbool robot_dart::RobotDARTSimu::_break;\nint robot_dart::RobotDARTSimu::_control_freq;\nstd::shared_ptr<gui::Base> robot_dart::RobotDARTSimu::_graphics;\nint robot_dart::RobotDARTSimu::_graphics_freq;\nstd::unique_ptr<simu::GUIData> robot_dart::RobotDARTSimu::_gui_data;\nsize_t robot_dart::RobotDARTSimu::_old_index;\nint robot_dart::RobotDARTSimu::_physics_freq;\nstd::vector<robot_t> robot_dart::RobotDARTSimu::_robots;\nScheduler robot_dart::RobotDARTSimu::_scheduler;\nstd::vector<std::shared_ptr<sensor::Sensor> > robot_dart::RobotDARTSimu::_sensors;\nstd::shared_ptr<simu::TextData> robot_dart::RobotDARTSimu::_status_bar;\nstd::shared_ptr<simu::TextData> robot_dart::RobotDARTSimu::_text_panel;\ndart::simulation::WorldPtr robot_dart::RobotDARTSimu::_world;\nvoid robot_dart::RobotDARTSimu::_enable (\n std::shared_ptr< simu::TextData > & text,\n bool enable,\n double font_size\n) \nThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.hpp
ClassList > robot_dart > RobotPool
"},{"location":"api/classrobot__dart_1_1RobotPool/#public-types","title":"Public Types","text":"Type Name typedef std::function< std::shared_ptr< Robot >()> robot_creator_t"},{"location":"api/classrobot__dart_1_1RobotPool/#public-functions","title":"Public Functions","text":"Type Name RobotPool (const robot_creator_t & robot_creator, size_t pool_size=32, bool verbose=true) RobotPool (const RobotPool &) = delete virtual void free_robot (const std::shared_ptr< Robot > & robot) virtual std::shared_ptr< Robot > get_robot (const std::string & name=\"robot\") const std::string & model_filename () const void operator= (const RobotPool &) = delete virtual ~RobotPool ()"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-attributes","title":"Protected Attributes","text":"Type Name std::vector< bool > _free std::string _model_filename size_t _pool_size robot_creator_t _robot_creator std::mutex _skeleton_mutex std::vector< dart::dynamics::SkeletonPtr > _skeletons bool _verbose"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _reset_robot (const std::shared_ptr< Robot > & robot)"},{"location":"api/classrobot__dart_1_1RobotPool/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#typedef-robot_creator_t","title":"typedef robot_creator_t","text":"using robot_dart::RobotPool::robot_creator_t = std::function<std::shared_ptr<Robot>()>;\nrobot_dart::RobotPool::RobotPool (\n const robot_creator_t & robot_creator,\n size_t pool_size=32,\n bool verbose=true\n) \nrobot_dart::RobotPool::RobotPool (\n const RobotPool &\n) = delete\nvirtual void robot_dart::RobotPool::free_robot (\n const std::shared_ptr< Robot > & robot\n) \nvirtual std::shared_ptr< Robot > robot_dart::RobotPool::get_robot (\n const std::string & name=\"robot\"\n) \ninline const std::string & robot_dart::RobotPool::model_filename () const\nvoid robot_dart::RobotPool::operator= (\n const RobotPool &\n) = delete\ninline virtual robot_dart::RobotPool::~RobotPool () \nstd::vector<bool> robot_dart::RobotPool::_free;\nstd::string robot_dart::RobotPool::_model_filename;\nsize_t robot_dart::RobotPool::_pool_size;\nrobot_creator_t robot_dart::RobotPool::_robot_creator;\nstd::mutex robot_dart::RobotPool::_skeleton_mutex;\nstd::vector<dart::dynamics::SkeletonPtr> robot_dart::RobotPool::_skeletons;\nbool robot_dart::RobotPool::_verbose;\nvirtual void robot_dart::RobotPool::_reset_robot (\n const std::shared_ptr< Robot > & robot\n) \nThe documentation for this class was generated from the following file robot_dart/robot_pool.hpp
ClassList > robot_dart > Scheduler
"},{"location":"api/classrobot__dart_1_1Scheduler/#public-functions","title":"Public Functions","text":"Type Name Scheduler (double dt, bool sync=false) double current_time () constcurrent time according to the simulation (simulation clock) double dt () constdt used by the simulation (simulation clock) double it_duration () const double last_it_duration () const double next_time () constnext time according to the simulation (simulation clock) bool operator() (int frequency) double real_time () consttime according to the clock's computer (wall clock) double real_time_factor () const void reset (double dt, bool sync=false, double current_time=0., double real_time=0.) bool schedule (int frequency) void set_sync (bool enable) double step () bool sync () const"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-types","title":"Protected Types","text":"Type Name typedef std::chrono::high_resolution_clock clock_t"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-attributes","title":"Protected Attributes","text":"Type Name double _average_it_duration = = 0. int _current_step = = 0 double _current_time = = 0. double _dt double _it_duration = = 0. clock_t::time_point _last_iteration_time int _max_frequency = = -1 double _real_start_time = = 0. double _real_time = = 0. double _simu_start_time = = 0. clock_t::time_point _start_time bool _sync"},{"location":"api/classrobot__dart_1_1Scheduler/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Scheduler/#function-scheduler","title":"function Scheduler","text":"inline robot_dart::Scheduler::Scheduler (\n double dt,\n bool sync=false\n) \ninline double robot_dart::Scheduler::current_time () const\ninline double robot_dart::Scheduler::dt () const\ninline double robot_dart::Scheduler::it_duration () const\ninline double robot_dart::Scheduler::last_it_duration () const\ninline double robot_dart::Scheduler::next_time () const\ninline bool robot_dart::Scheduler::operator() (\n int frequency\n) \ninline double robot_dart::Scheduler::real_time () const\ninline double robot_dart::Scheduler::real_time_factor () const\nvoid robot_dart::Scheduler::reset (\n double dt,\n bool sync=false,\n double current_time=0.,\n double real_time=0.\n) \nbool robot_dart::Scheduler::schedule (\n int frequency\n) \ninline void robot_dart::Scheduler::set_sync (\n bool enable\n) \nsynchronize the simulation clock with the wall clock (when possible, i.e. when the simulation is faster than real time)
"},{"location":"api/classrobot__dart_1_1Scheduler/#function-step","title":"function step","text":"double robot_dart::Scheduler::step () \ncall this at the end of the loop (see examples) this will synchronize with real time if requested and increase the counter; returns the real-time (in seconds)
"},{"location":"api/classrobot__dart_1_1Scheduler/#function-sync","title":"function sync","text":"inline bool robot_dart::Scheduler::sync () const\nusing robot_dart::Scheduler::clock_t = std::chrono::high_resolution_clock;\ndouble robot_dart::Scheduler::_average_it_duration;\nint robot_dart::Scheduler::_current_step;\ndouble robot_dart::Scheduler::_current_time;\ndouble robot_dart::Scheduler::_dt;\ndouble robot_dart::Scheduler::_it_duration;\nclock_t::time_point robot_dart::Scheduler::_last_iteration_time;\nint robot_dart::Scheduler::_max_frequency;\ndouble robot_dart::Scheduler::_real_start_time;\ndouble robot_dart::Scheduler::_real_time;\ndouble robot_dart::Scheduler::_simu_start_time;\nclock_t::time_point robot_dart::Scheduler::_start_time;\nbool robot_dart::Scheduler::_sync;\nThe documentation for this class was generated from the following file robot_dart/scheduler.hpp
Namespace List > robot_dart > collision_filter
"},{"location":"api/namespacerobot__dart_1_1collision__filter/#classes","title":"Classes","text":"Type Name class BitmaskContactFilterThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.cpp
ClassList > robot_dart > collision_filter > BitmaskContactFilter
Inherits the following classes: dart::BodyNodeCollisionFilter
"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#classes","title":"Classes","text":"Type Name struct Masks"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-types","title":"Public Types","text":"Type Name typedef const dart::CollisionObject * DartCollisionConstPtr typedef const dart::dynamics::ShapeNode * DartShapeConstPtr"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-functions","title":"Public Functions","text":"Type Name void add_to_map (DartShapeConstPtr shape, uint32_t col_mask, uint32_t cat_mask) void add_to_map (dart::dynamics::SkeletonPtr skel, uint32_t col_mask, uint32_t cat_mask) void clear_all () bool ignoresCollision (DartCollisionConstPtr object1, DartCollisionConstPtr object2) override const Masks mask (DartShapeConstPtr shape) const void remove_from_map (DartShapeConstPtr shape) void remove_from_map (dart::dynamics::SkeletonPtr skel) virtual ~BitmaskContactFilter () = default"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#typedef-dartcollisionconstptr","title":"typedef DartCollisionConstPtr","text":"using robot_dart::collision_filter::BitmaskContactFilter::DartCollisionConstPtr = const dart::collision::CollisionObject*;\nusing robot_dart::collision_filter::BitmaskContactFilter::DartShapeConstPtr = const dart::dynamics::ShapeNode*;\ninline void robot_dart::collision_filter::BitmaskContactFilter::add_to_map (\n DartShapeConstPtr shape,\n uint32_t col_mask,\n uint32_t cat_mask\n) \ninline void robot_dart::collision_filter::BitmaskContactFilter::add_to_map (\n dart::dynamics::SkeletonPtr skel,\n uint32_t col_mask,\n uint32_t cat_mask\n) \ninline void robot_dart::collision_filter::BitmaskContactFilter::clear_all () \ninline bool robot_dart::collision_filter::BitmaskContactFilter::ignoresCollision (\n DartCollisionConstPtr object1,\n DartCollisionConstPtr object2\n) override const\ninline Masks robot_dart::collision_filter::BitmaskContactFilter::mask (\n DartShapeConstPtr shape\n) const\ninline void robot_dart::collision_filter::BitmaskContactFilter::remove_from_map (\n DartShapeConstPtr shape\n) \ninline void robot_dart::collision_filter::BitmaskContactFilter::remove_from_map (\n dart::dynamics::SkeletonPtr skel\n) \nvirtual robot_dart::collision_filter::BitmaskContactFilter::~BitmaskContactFilter () = default\nThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.cpp
ClassList > robot_dart > collision_filter > BitmaskContactFilter > Masks
"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#public-attributes","title":"Public Attributes","text":"Type Name uint32_t category_mask = = 0xffffffff uint32_t collision_mask = = 0xffffffff"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#variable-category_mask","title":"variable category_mask","text":"uint32_t robot_dart::collision_filter::BitmaskContactFilter::Masks::category_mask;\nuint32_t robot_dart::collision_filter::BitmaskContactFilter::Masks::collision_mask;\nThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.cpp
Namespace List > robot_dart > control
"},{"location":"api/namespacerobot__dart_1_1control/#classes","title":"Classes","text":"Type Name class PDControl class PolicyControl <typename Policy> class RobotControl class SimpleControlThe documentation for this class was generated from the following file robot_dart/control/pd_control.cpp
ClassList > robot_dart > control > PDControl
Inherits the following classes: robot_dart::control::RobotControl
"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions","title":"Public Functions","text":"Type Name PDControl () PDControl (const Eigen::VectorXd & ctrl, bool full_control=false, bool use_angular_errors=true) PDControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs, bool use_angular_errors=true) virtual Eigen::VectorXd calculate (double) override virtual std::shared_ptr< RobotControl > clone () override const virtual void configure () override std::pair< Eigen::VectorXd, Eigen::VectorXd > pd () const void set_pd (double p, double d) void set_pd (const Eigen::VectorXd & p, const Eigen::VectorXd & d) void set_use_angular_errors (bool enable=true) bool using_angular_errors () const"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name RobotControl () RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false) RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) void activate (bool enable=true) bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr< RobotControl > clone () const = 0 virtual void configure () = 0 const std::vector< std::string > & controllable_dofs () const void init () const Eigen::VectorXd & parameters () const std::shared_ptr< Robot > robot () const void set_parameters (const Eigen::VectorXd & ctrl) void set_robot (const std::shared_ptr< Robot > & robot) void set_weight (double weight) double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::VectorXd _Kd Eigen::VectorXd _Kp bool _use_angular_errors"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name bool _active bool _check_free = = false int _control_dof std::vector< std::string > _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr< Robot > _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-static-functions","title":"Protected Static Functions","text":"Type Name double _angle_dist (double target, double current)"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pdcontrol-13","title":"function PDControl [\u2153]","text":"robot_dart::control::PDControl::PDControl () \nrobot_dart::control::PDControl::PDControl (\n const Eigen::VectorXd & ctrl,\n bool full_control=false,\n bool use_angular_errors=true\n) \nrobot_dart::control::PDControl::PDControl (\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs,\n bool use_angular_errors=true\n) \nvirtual Eigen::VectorXd robot_dart::control::PDControl::calculate (\n double\n) override\nImplements robot_dart::control::RobotControl::calculate
"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-clone","title":"function clone","text":"virtual std::shared_ptr< RobotControl > robot_dart::control::PDControl::clone () override const\nImplements robot_dart::control::RobotControl::clone
"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-configure","title":"function configure","text":"virtual void robot_dart::control::PDControl::configure () override\nImplements robot_dart::control::RobotControl::configure
"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pd","title":"function pd","text":"std::pair< Eigen::VectorXd, Eigen::VectorXd > robot_dart::control::PDControl::pd () const\nvoid robot_dart::control::PDControl::set_pd (\n double p,\n double d\n) \nvoid robot_dart::control::PDControl::set_pd (\n const Eigen::VectorXd & p,\n const Eigen::VectorXd & d\n) \nvoid robot_dart::control::PDControl::set_use_angular_errors (\n bool enable=true\n) \nbool robot_dart::control::PDControl::using_angular_errors () const\nEigen::VectorXd robot_dart::control::PDControl::_Kd;\nEigen::VectorXd robot_dart::control::PDControl::_Kp;\nbool robot_dart::control::PDControl::_use_angular_errors;\nstatic double robot_dart::control::PDControl::_angle_dist (\n double target,\n double current\n) \nThe documentation for this class was generated from the following file robot_dart/control/pd_control.hpp
template <typename Policy>
ClassList > robot_dart > control > PolicyControl
Inherits the following classes: robot_dart::control::RobotControl
"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions","title":"Public Functions","text":"Type Name PolicyControl () PolicyControl (double dt, const Eigen::VectorXd & ctrl, bool full_control=false) PolicyControl (const Eigen::VectorXd & ctrl, bool full_control=false) PolicyControl (double dt, const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) PolicyControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) virtual Eigen::VectorXd calculate (double t) override virtual std::shared_ptr< RobotControl > clone () override const virtual void configure () override Eigen::VectorXd h_params () const void set_h_params (const Eigen::VectorXd & h_params)"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name RobotControl () RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false) RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) void activate (bool enable=true) bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr< RobotControl > clone () const = 0 virtual void configure () = 0 const std::vector< std::string > & controllable_dofs () const void init () const Eigen::VectorXd & parameters () const std::shared_ptr< Robot > robot () const void set_parameters (const Eigen::VectorXd & ctrl) void set_robot (const std::shared_ptr< Robot > & robot) void set_weight (double weight) double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes","title":"Protected Attributes","text":"Type Name double _dt bool _first bool _full_dt int _i Policy _policy Eigen::VectorXd _prev_commands double _prev_time double _threshold"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name bool _active bool _check_free = = false int _control_dof std::vector< std::string > _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr< Robot > _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-15","title":"function PolicyControl [\u2155]","text":"inline robot_dart::control::PolicyControl::PolicyControl () \ninline robot_dart::control::PolicyControl::PolicyControl (\n double dt,\n const Eigen::VectorXd & ctrl,\n bool full_control=false\n) \ninline robot_dart::control::PolicyControl::PolicyControl (\n const Eigen::VectorXd & ctrl,\n bool full_control=false\n) \ninline robot_dart::control::PolicyControl::PolicyControl (\n double dt,\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs\n) \ninline robot_dart::control::PolicyControl::PolicyControl (\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs\n) \ninline virtual Eigen::VectorXd robot_dart::control::PolicyControl::calculate (\n double t\n) override\nImplements robot_dart::control::RobotControl::calculate
"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-clone","title":"function clone","text":"inline virtual std::shared_ptr< RobotControl > robot_dart::control::PolicyControl::clone () override const\nImplements robot_dart::control::RobotControl::clone
"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-configure","title":"function configure","text":"inline virtual void robot_dart::control::PolicyControl::configure () override\nImplements robot_dart::control::RobotControl::configure
"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-h_params","title":"function h_params","text":"inline Eigen::VectorXd robot_dart::control::PolicyControl::h_params () const\ninline void robot_dart::control::PolicyControl::set_h_params (\n const Eigen::VectorXd & h_params\n) \ndouble robot_dart::control::PolicyControl< Policy >::_dt;\nbool robot_dart::control::PolicyControl< Policy >::_first;\nbool robot_dart::control::PolicyControl< Policy >::_full_dt;\nint robot_dart::control::PolicyControl< Policy >::_i;\nPolicy robot_dart::control::PolicyControl< Policy >::_policy;\nEigen::VectorXd robot_dart::control::PolicyControl< Policy >::_prev_commands;\ndouble robot_dart::control::PolicyControl< Policy >::_prev_time;\ndouble robot_dart::control::PolicyControl< Policy >::_threshold;\nThe documentation for this class was generated from the following file robot_dart/control/policy_control.hpp
ClassList > robot_dart > control > RobotControl
Inherited by the following classes: robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::SimpleControl
"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#public-functions","title":"Public Functions","text":"Type Name RobotControl () RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false) RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) void activate (bool enable=true) bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr< RobotControl > clone () const = 0 virtual void configure () = 0 const std::vector< std::string > & controllable_dofs () const void init () const Eigen::VectorXd & parameters () const std::shared_ptr< Robot > robot () const void set_parameters (const Eigen::VectorXd & ctrl) void set_robot (const std::shared_ptr< Robot > & robot) void set_weight (double weight) double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _active bool _check_free = = false int _control_dof std::vector< std::string > _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr< Robot > _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-13","title":"function RobotControl [\u2153]","text":"robot_dart::control::RobotControl::RobotControl () \nrobot_dart::control::RobotControl::RobotControl (\n const Eigen::VectorXd & ctrl,\n bool full_control=false\n) \nrobot_dart::control::RobotControl::RobotControl (\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs\n) \nvoid robot_dart::control::RobotControl::activate (\n bool enable=true\n) \nbool robot_dart::control::RobotControl::active () const\nvirtual Eigen::VectorXd robot_dart::control::RobotControl::calculate (\n double t\n) = 0\nvirtual std::shared_ptr< RobotControl > robot_dart::control::RobotControl::clone () const = 0\nvirtual void robot_dart::control::RobotControl::configure () = 0\nconst std::vector< std::string > & robot_dart::control::RobotControl::controllable_dofs () const\nvoid robot_dart::control::RobotControl::init () \nconst Eigen::VectorXd & robot_dart::control::RobotControl::parameters () const\nstd::shared_ptr< Robot > robot_dart::control::RobotControl::robot () const\nvoid robot_dart::control::RobotControl::set_parameters (\n const Eigen::VectorXd & ctrl\n) \nvoid robot_dart::control::RobotControl::set_robot (\n const std::shared_ptr< Robot > & robot\n) \nvoid robot_dart::control::RobotControl::set_weight (\n double weight\n) \ndouble robot_dart::control::RobotControl::weight () const\ninline virtual robot_dart::control::RobotControl::~RobotControl () \nbool robot_dart::control::RobotControl::_active;\nbool robot_dart::control::RobotControl::_check_free;\nint robot_dart::control::RobotControl::_control_dof;\nstd::vector<std::string> robot_dart::control::RobotControl::_controllable_dofs;\nEigen::VectorXd robot_dart::control::RobotControl::_ctrl;\nint robot_dart::control::RobotControl::_dof;\nstd::weak_ptr<Robot> robot_dart::control::RobotControl::_robot;\ndouble robot_dart::control::RobotControl::_weight;\nThe documentation for this class was generated from the following file robot_dart/control/robot_control.hpp
ClassList > robot_dart > control > SimpleControl
Inherits the following classes: robot_dart::control::RobotControl
"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions","title":"Public Functions","text":"Type Name SimpleControl () SimpleControl (const Eigen::VectorXd & ctrl, bool full_control=false) SimpleControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) virtual Eigen::VectorXd calculate (double) override virtual std::shared_ptr< RobotControl > clone () override const virtual void configure () override"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name RobotControl () RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false) RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) void activate (bool enable=true) bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr< RobotControl > clone () const = 0 virtual void configure () = 0 const std::vector< std::string > & controllable_dofs () const void init () const Eigen::VectorXd & parameters () const std::shared_ptr< Robot > robot () const void set_parameters (const Eigen::VectorXd & ctrl) void set_robot (const std::shared_ptr< Robot > & robot) void set_weight (double weight) double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name bool _active bool _check_free = = false int _control_dof std::vector< std::string > _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr< Robot > _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-simplecontrol-13","title":"function SimpleControl [\u2153]","text":"robot_dart::control::SimpleControl::SimpleControl () \nrobot_dart::control::SimpleControl::SimpleControl (\n const Eigen::VectorXd & ctrl,\n bool full_control=false\n) \nrobot_dart::control::SimpleControl::SimpleControl (\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs\n) \nvirtual Eigen::VectorXd robot_dart::control::SimpleControl::calculate (\n double\n) override\nImplements robot_dart::control::RobotControl::calculate
"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-clone","title":"function clone","text":"virtual std::shared_ptr< RobotControl > robot_dart::control::SimpleControl::clone () override const\nImplements robot_dart::control::RobotControl::clone
"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-configure","title":"function configure","text":"virtual void robot_dart::control::SimpleControl::configure () override\nImplements robot_dart::control::RobotControl::configure
The documentation for this class was generated from the following file robot_dart/control/simple_control.hpp
Namespace List > robot_dart > detail
"},{"location":"api/namespacerobot__dart_1_1detail/#public-functions","title":"Public Functions","text":"Type Name void add_dof_data (const Eigen::VectorXd & data, dart::dynamics::SkeletonPtr skeleton, const std::vector< std::string > & dof_names, const std::unordered_map< std::string, size_t > & dof_map) Eigen::VectorXd dof_data (dart::dynamics::SkeletonPtr skeleton, const std::vector< std::string > & dof_names, const std::unordered_map< std::string, size_t > & dof_map) void set_dof_data (const Eigen::VectorXd & data, dart::dynamics::SkeletonPtr skeleton, const std::vector< std::string > & dof_names, const std::unordered_map< std::string, size_t > & dof_map)"},{"location":"api/namespacerobot__dart_1_1detail/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1detail/#function-add_dof_data","title":"function add_dof_data","text":"template<int content>\nvoid robot_dart::detail::add_dof_data (\n const Eigen::VectorXd & data,\n dart::dynamics::SkeletonPtr skeleton,\n const std::vector< std::string > & dof_names,\n const std::unordered_map< std::string, size_t > & dof_map\n) \ntemplate<int content>\nEigen::VectorXd robot_dart::detail::dof_data (\n dart::dynamics::SkeletonPtr skeleton,\n const std::vector< std::string > & dof_names,\n const std::unordered_map< std::string, size_t > & dof_map\n) \ntemplate<int content>\nvoid robot_dart::detail::set_dof_data (\n const Eigen::VectorXd & data,\n dart::dynamics::SkeletonPtr skeleton,\n const std::vector< std::string > & dof_names,\n const std::unordered_map< std::string, size_t > & dof_map\n) \nThe documentation for this class was generated from the following file robot_dart/robot.cpp
Namespace List > robot_dart > gui
"},{"location":"api/namespacerobot__dart_1_1gui/#namespaces","title":"Namespaces","text":"Type Name namespace magnum"},{"location":"api/namespacerobot__dart_1_1gui/#classes","title":"Classes","text":"Type Name class Base struct DepthImage struct GrayscaleImage struct Image"},{"location":"api/namespacerobot__dart_1_1gui/#public-functions","title":"Public Functions","text":"Type Name GrayscaleImage convert_rgb_to_grayscale (const Image & rgb) std::vector< Eigen::Vector3d > point_cloud_from_depth_array (const DepthImage & depth_image, const Eigen::Matrix3d & intrinsic_matrix, const Eigen::Matrix4d & tf, double far_plane) void save_png_image (const std::string & filename, const Image & rgb) void save_png_image (const std::string & filename, const GrayscaleImage & gray)"},{"location":"api/namespacerobot__dart_1_1gui/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui/#function-convert_rgb_to_grayscale","title":"function convert_rgb_to_grayscale","text":"GrayscaleImage robot_dart::gui::convert_rgb_to_grayscale (\n const Image & rgb\n) \nstd::vector< Eigen::Vector3d > robot_dart::gui::point_cloud_from_depth_array (\n const DepthImage & depth_image,\n const Eigen::Matrix3d & intrinsic_matrix,\n const Eigen::Matrix4d & tf,\n double far_plane\n) \nvoid robot_dart::gui::save_png_image (\n const std::string & filename,\n const Image & rgb\n) \nvoid robot_dart::gui::save_png_image (\n const std::string & filename,\n const GrayscaleImage & gray\n) \nThe documentation for this class was generated from the following file robot_dart/gui/base.hpp
ClassList > robot_dart > gui > Base
Inherited by the following classes: robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::BaseGraphics
"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#public-functions","title":"Public Functions","text":"Type Name Base () virtual DepthImage depth_array () virtual GrayscaleImage depth_image () virtual bool done () const virtual size_t height () const virtual Image image () virtual GrayscaleImage raw_depth_image () virtual void refresh () virtual void set_enable (bool) virtual void set_fps (int) virtual void set_render_period (double) virtual void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#protected-attributes","title":"Protected Attributes","text":"Type Name RobotDARTSimu * _simu = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-base","title":"function Base","text":"inline robot_dart::gui::Base::Base () \ninline virtual DepthImage robot_dart::gui::Base::depth_array () \ninline virtual GrayscaleImage robot_dart::gui::Base::depth_image () \ninline virtual bool robot_dart::gui::Base::done () const\ninline virtual size_t robot_dart::gui::Base::height () const\ninline virtual Image robot_dart::gui::Base::image () \ninline virtual GrayscaleImage robot_dart::gui::Base::raw_depth_image () \ninline virtual void robot_dart::gui::Base::refresh () \ninline virtual void robot_dart::gui::Base::set_enable (\n bool\n) \ninline virtual void robot_dart::gui::Base::set_fps (\n int\n) \ninline virtual void robot_dart::gui::Base::set_render_period (\n double\n) \ninline virtual void robot_dart::gui::Base::set_simu (\n RobotDARTSimu * simu\n) \ninline const RobotDARTSimu * robot_dart::gui::Base::simu () const\ninline virtual size_t robot_dart::gui::Base::width () const\ninline virtual robot_dart::gui::Base::~Base () \nRobotDARTSimu* robot_dart::gui::Base::_simu;\nThe documentation for this class was generated from the following file robot_dart/gui/base.hpp
ClassList > robot_dart > gui > DepthImage
"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#public-attributes","title":"Public Attributes","text":"Type Name std::vector< double > data size_t height = = 0 size_t width = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#variable-data","title":"variable data","text":"std::vector<double> robot_dart::gui::DepthImage::data;\nsize_t robot_dart::gui::DepthImage::height;\nsize_t robot_dart::gui::DepthImage::width;\nThe documentation for this class was generated from the following file robot_dart/gui/helper.hpp
ClassList > robot_dart > gui > GrayscaleImage
"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#public-attributes","title":"Public Attributes","text":"Type Name std::vector< uint8_t > data size_t height = = 0 size_t width = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#variable-data","title":"variable data","text":"std::vector<uint8_t> robot_dart::gui::GrayscaleImage::data;\nsize_t robot_dart::gui::GrayscaleImage::height;\nsize_t robot_dart::gui::GrayscaleImage::width;\nThe documentation for this class was generated from the following file robot_dart/gui/helper.hpp
ClassList > robot_dart > gui > Image
"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#public-attributes","title":"Public Attributes","text":"Type Name size_t channels = = 3 std::vector< uint8_t > data size_t height = = 0 size_t width = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-channels","title":"variable channels","text":"size_t robot_dart::gui::Image::channels;\nstd::vector<uint8_t> robot_dart::gui::Image::data;\nsize_t robot_dart::gui::Image::height;\nsize_t robot_dart::gui::Image::width;\nThe documentation for this class was generated from the following file robot_dart/gui/helper.hpp
Namespace List > robot_dart > gui > magnum
"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#namespaces","title":"Namespaces","text":"Type Name namespace gs namespace sensor"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#classes","title":"Classes","text":"Type Name class BaseApplication class BaseGraphics <typename T> class CubeMapShadowedColorObject class CubeMapShadowedObject struct DebugDrawData class DrawableObject class GlfwApplication struct GlobalData class Graphics struct GraphicsConfiguration struct ObjectStruct struct ShadowData class ShadowedColorObject class ShadowedObject class WindowlessGLApplication class WindowlessGraphics"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-types","title":"Public Types","text":"Type Name typedef Magnum::SceneGraph::Camera3D Camera3D typedef Magnum::SceneGraph::Object< Magnum::SceneGraph::MatrixTransformation3D > Object3D typedef Magnum::SceneGraph::Scene< Magnum::SceneGraph::MatrixTransformation3D > Scene3D"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-functions","title":"Public Functions","text":"Type Name BaseApplication * make_application (RobotDARTSimu * simu, const GraphicsConfiguration & configuration=GraphicsConfiguration())"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#typedef-camera3d","title":"typedef Camera3D","text":"using robot_dart::gui::magnum::Camera3D = Magnum::SceneGraph::Camera3D;\nusing robot_dart::gui::magnum::Object3D = Magnum::SceneGraph::Object<Magnum::SceneGraph::MatrixTransformation3D>;\nusing robot_dart::gui::magnum::Scene3D = Magnum::SceneGraph::Scene<Magnum::SceneGraph::MatrixTransformation3D>;\ntemplate<typename T>\ninline BaseApplication * robot_dart::gui::magnum::make_application (\n RobotDARTSimu * simu,\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.cpp
ClassList > robot_dart > gui > magnum > BaseApplication
Inherited by the following classes: robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#public-functions","title":"Public Functions","text":"Type Name BaseApplication (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const gs::Light & light) bool attach_camera (gs::Camera & camera, dart::dynamics::BodyNode * body) gs::Camera & camera () const gs::Camera & camera () const void clear_lights () DebugDrawData debug_draw_data () DepthImage depth_array () GrayscaleImage depth_image () bool done () const Magnum::SceneGraph::DrawableGroup3D & drawables () void enable_shadows (bool enable=true, bool drawTransparentShadows=false) Corrade::Containers::Optional< Magnum::Image2D > & image () void init (RobotDARTSimu * simu, const GraphicsConfiguration & configuration) gs::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at, const Eigen::Vector3d & up) size_t num_lights () const GrayscaleImage raw_depth_image () void record_video (const std::string & video_fname, int fps) virtual void render () void render_shadows () Scene3D & scene () bool shadowed () const bool transparent_shadows () const void update_graphics () void update_lights (const gs::Camera & camera) virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name std::unique_ptr< Magnum::GL::Mesh > _3D_axis_mesh std::unique_ptr< Magnum::Shaders::VertexColorGL3D > _3D_axis_shader std::unique_ptr< Magnum::GL::Mesh > _background_mesh std::unique_ptr< Magnum::Shaders::FlatGL2D > _background_shader std::unique_ptr< gs::Camera > _camera std::unique_ptr< gs::PhongMultiLight > _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr< gs::CubeMapColor > _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr< gs::CubeMap > _cubemap_shader std::unique_ptr< gs::CubeMapColor > _cubemap_texture_color_shader std::unique_ptr< gs::CubeMap > _cubemap_texture_shader std::unique_ptr< Magnum::DartIntegration::World > _dart_world bool _done = = false std::unordered_map< Magnum::DartIntegration::Object *, ObjectStruct * > _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer< Magnum::Text::AbstractFont > _font Corrade::PluginManager::Manager< Magnum::Text::AbstractFont > _font_manager Corrade::Containers::Pointer< Magnum::Text::DistanceFieldGlyphCache > _glyph_cache Corrade::PluginManager::Manager< Magnum::Trade::AbstractImporter > _importer_manager std::vector< gs::Light > _lights int _max_lights = = 5 Scene3D _scene std::unique_ptr< Camera3D > _shadow_camera Object3D * _shadow_camera_object std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_color_cube_map std::unique_ptr< gs::ShadowMapColor > _shadow_color_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_color_texture std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_cube_map std::vector< ShadowData > _shadow_data int _shadow_map_size = = 512 std::unique_ptr< gs::ShadowMap > _shadow_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_texture std::unique_ptr< gs::ShadowMapColor > _shadow_texture_color_shader std::unique_ptr< gs::ShadowMap > _shadow_texture_shader bool _shadowed = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_indices std::unique_ptr< Magnum::Shaders::DistanceFieldVectorGL2D > _text_shader Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_vertices std::unique_ptr< gs::PhongMultiLight > _texture_shader int _transparentSize = = 0 bool _transparent_shadows = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-functions","title":"Protected Functions","text":"Type Name void _gl_clean_up () void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication","title":"function BaseApplication","text":"robot_dart::gui::magnum::BaseApplication::BaseApplication (\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \nvoid robot_dart::gui::magnum::BaseApplication::add_light (\n const gs::Light & light\n) \nbool robot_dart::gui::magnum::BaseApplication::attach_camera (\n gs::Camera & camera,\n dart::dynamics::BodyNode * body\n) \ninline gs::Camera & robot_dart::gui::magnum::BaseApplication::camera () \ninline const gs::Camera & robot_dart::gui::magnum::BaseApplication::camera () const\nvoid robot_dart::gui::magnum::BaseApplication::clear_lights () \ninline DebugDrawData robot_dart::gui::magnum::BaseApplication::debug_draw_data () \nDepthImage robot_dart::gui::magnum::BaseApplication::depth_array () \nGrayscaleImage robot_dart::gui::magnum::BaseApplication::depth_image () \nbool robot_dart::gui::magnum::BaseApplication::done () const\ninline Magnum::SceneGraph::DrawableGroup3D & robot_dart::gui::magnum::BaseApplication::drawables () \nvoid robot_dart::gui::magnum::BaseApplication::enable_shadows (\n bool enable=true,\n bool drawTransparentShadows=false\n) \ninline Corrade::Containers::Optional< Magnum::Image2D > & robot_dart::gui::magnum::BaseApplication::image () \nvoid robot_dart::gui::magnum::BaseApplication::init (\n RobotDARTSimu * simu,\n const GraphicsConfiguration & configuration\n) \ngs::Light & robot_dart::gui::magnum::BaseApplication::light (\n size_t i\n) \nstd::vector< gs::Light > & robot_dart::gui::magnum::BaseApplication::lights () \nvoid robot_dart::gui::magnum::BaseApplication::look_at (\n const Eigen::Vector3d & camera_pos,\n const Eigen::Vector3d & look_at,\n const Eigen::Vector3d & up\n) \nsize_t robot_dart::gui::magnum::BaseApplication::num_lights () const\nGrayscaleImage robot_dart::gui::magnum::BaseApplication::raw_depth_image () \ninline void robot_dart::gui::magnum::BaseApplication::record_video (\n const std::string & video_fname,\n int fps\n) \ninline virtual void robot_dart::gui::magnum::BaseApplication::render () \nvoid robot_dart::gui::magnum::BaseApplication::render_shadows () \ninline Scene3D & robot_dart::gui::magnum::BaseApplication::scene () \ninline bool robot_dart::gui::magnum::BaseApplication::shadowed () const\ninline bool robot_dart::gui::magnum::BaseApplication::transparent_shadows () const\nvoid robot_dart::gui::magnum::BaseApplication::update_graphics () \nvoid robot_dart::gui::magnum::BaseApplication::update_lights (\n const gs::Camera & camera\n) \ninline virtual robot_dart::gui::magnum::BaseApplication::~BaseApplication () \nstd::unique_ptr<Magnum::GL::Mesh> robot_dart::gui::magnum::BaseApplication::_3D_axis_mesh;\nstd::unique_ptr<Magnum::Shaders::VertexColorGL3D> robot_dart::gui::magnum::BaseApplication::_3D_axis_shader;\nstd::unique_ptr<Magnum::GL::Mesh> robot_dart::gui::magnum::BaseApplication::_background_mesh;\nstd::unique_ptr<Magnum::Shaders::FlatGL2D> robot_dart::gui::magnum::BaseApplication::_background_shader;\nstd::unique_ptr<gs::Camera> robot_dart::gui::magnum::BaseApplication::_camera;\nstd::unique_ptr<gs::PhongMultiLight> robot_dart::gui::magnum::BaseApplication::_color_shader;\nGraphicsConfiguration robot_dart::gui::magnum::BaseApplication::_configuration;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_color_drawables;\nstd::unique_ptr<gs::CubeMapColor> robot_dart::gui::magnum::BaseApplication::_cubemap_color_shader;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_drawables;\nstd::unique_ptr<gs::CubeMap> robot_dart::gui::magnum::BaseApplication::_cubemap_shader;\nstd::unique_ptr<gs::CubeMapColor> robot_dart::gui::magnum::BaseApplication::_cubemap_texture_color_shader;\nstd::unique_ptr<gs::CubeMap> robot_dart::gui::magnum::BaseApplication::_cubemap_texture_shader;\nstd::unique_ptr<Magnum::DartIntegration::World> robot_dart::gui::magnum::BaseApplication::_dart_world;\nbool robot_dart::gui::magnum::BaseApplication::_done;\nstd::unordered_map<Magnum::DartIntegration::Object*, ObjectStruct*> robot_dart::gui::magnum::BaseApplication::_drawable_objects;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_drawables;\nCorrade::Containers::Pointer<Magnum::Text::AbstractFont> robot_dart::gui::magnum::BaseApplication::_font;\nCorrade::PluginManager::Manager<Magnum::Text::AbstractFont> robot_dart::gui::magnum::BaseApplication::_font_manager;\nCorrade::Containers::Pointer<Magnum::Text::DistanceFieldGlyphCache> robot_dart::gui::magnum::BaseApplication::_glyph_cache;\nCorrade::PluginManager::Manager<Magnum::Trade::AbstractImporter> robot_dart::gui::magnum::BaseApplication::_importer_manager;\nstd::vector<gs::Light> robot_dart::gui::magnum::BaseApplication::_lights;\nint robot_dart::gui::magnum::BaseApplication::_max_lights;\nScene3D robot_dart::gui::magnum::BaseApplication::_scene;\nstd::unique_ptr<Camera3D> robot_dart::gui::magnum::BaseApplication::_shadow_camera;\nObject3D* robot_dart::gui::magnum::BaseApplication::_shadow_camera_object;\nstd::unique_ptr<Magnum::GL::CubeMapTextureArray> robot_dart::gui::magnum::BaseApplication::_shadow_color_cube_map;\nstd::unique_ptr<gs::ShadowMapColor> robot_dart::gui::magnum::BaseApplication::_shadow_color_shader;\nstd::unique_ptr<Magnum::GL::Texture2DArray> robot_dart::gui::magnum::BaseApplication::_shadow_color_texture;\nstd::unique_ptr<Magnum::GL::CubeMapTextureArray> robot_dart::gui::magnum::BaseApplication::_shadow_cube_map;\nstd::vector<ShadowData> robot_dart::gui::magnum::BaseApplication::_shadow_data;\nint robot_dart::gui::magnum::BaseApplication::_shadow_map_size;\nstd::unique_ptr<gs::ShadowMap> robot_dart::gui::magnum::BaseApplication::_shadow_shader;\nstd::unique_ptr<Magnum::GL::Texture2DArray> robot_dart::gui::magnum::BaseApplication::_shadow_texture;\nstd::unique_ptr<gs::ShadowMapColor> robot_dart::gui::magnum::BaseApplication::_shadow_texture_color_shader;\nstd::unique_ptr<gs::ShadowMap> robot_dart::gui::magnum::BaseApplication::_shadow_texture_shader;\nbool robot_dart::gui::magnum::BaseApplication::_shadowed;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_color_drawables;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_drawables;\nRobotDARTSimu* robot_dart::gui::magnum::BaseApplication::_simu;\nCorrade::Containers::Pointer<Magnum::GL::Buffer> robot_dart::gui::magnum::BaseApplication::_text_indices;\nstd::unique_ptr<Magnum::Shaders::DistanceFieldVectorGL2D> robot_dart::gui::magnum::BaseApplication::_text_shader;\nCorrade::Containers::Pointer<Magnum::GL::Buffer> robot_dart::gui::magnum::BaseApplication::_text_vertices;\nstd::unique_ptr<gs::PhongMultiLight> robot_dart::gui::magnum::BaseApplication::_texture_shader;\nint robot_dart::gui::magnum::BaseApplication::_transparentSize;\nbool robot_dart::gui::magnum::BaseApplication::_transparent_shadows;\nvoid robot_dart::gui::magnum::BaseApplication::_gl_clean_up () \nvoid robot_dart::gui::magnum::BaseApplication::_prepare_shadows () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
template <typename T>
ClassList > robot_dart > gui > magnum > BaseGraphics
Inherits the following classes: robot_dart::gui::Base
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions","title":"Public Functions","text":"Type Name BaseGraphics (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const magnum::Light & light) gs::Camera & camera () const gs::Camera & camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights () virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true) virtual size_t height () override const virtual Image image () override magnum::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) BaseApplication * magnum_app () const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image () size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string & video_fname, int fps=-1) virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name Base () virtual DepthImage depth_array () virtual GrayscaleImage depth_image () virtual bool done () const virtual size_t height () const virtual Image image () virtual GrayscaleImage raw_depth_image () virtual void refresh () virtual void set_enable (bool) virtual void set_fps (int) virtual void set_render_period (double) virtual void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes","title":"Protected Attributes","text":"Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr< BaseApplication > _magnum_app Corrade::Utility::Debug _magnum_silence_output = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name RobotDARTSimu * _simu = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics","title":"function BaseGraphics","text":"inline robot_dart::gui::magnum::BaseGraphics::BaseGraphics (\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \ninline void robot_dart::gui::magnum::BaseGraphics::add_light (\n const magnum::gs::Light & light\n) \ninline gs::Camera & robot_dart::gui::magnum::BaseGraphics::camera () \ninline const gs::Camera & robot_dart::gui::magnum::BaseGraphics::camera () const\ninline Eigen::Matrix4d robot_dart::gui::magnum::BaseGraphics::camera_extrinsic_matrix () const\ninline Eigen::Matrix3d robot_dart::gui::magnum::BaseGraphics::camera_intrinsic_matrix () const\ninline void robot_dart::gui::magnum::BaseGraphics::clear_lights () \ninline virtual DepthImage robot_dart::gui::magnum::BaseGraphics::depth_array () override\nImplements robot_dart::gui::Base::depth_array
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_image","title":"function depth_image","text":"inline virtual GrayscaleImage robot_dart::gui::magnum::BaseGraphics::depth_image () override\nImplements robot_dart::gui::Base::depth_image
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-done","title":"function done","text":"inline virtual bool robot_dart::gui::magnum::BaseGraphics::done () override const\nImplements robot_dart::gui::Base::done
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-enable_shadows","title":"function enable_shadows","text":"inline void robot_dart::gui::magnum::BaseGraphics::enable_shadows (\n bool enable=true,\n bool transparent=true\n) \ninline virtual size_t robot_dart::gui::magnum::BaseGraphics::height () override const\nImplements robot_dart::gui::Base::height
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-image","title":"function image","text":"inline virtual Image robot_dart::gui::magnum::BaseGraphics::image () override\nImplements robot_dart::gui::Base::image
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-light","title":"function light","text":"inline magnum::gs::Light & robot_dart::gui::magnum::BaseGraphics::light (\n size_t i\n) \ninline std::vector< gs::Light > & robot_dart::gui::magnum::BaseGraphics::lights () \ninline void robot_dart::gui::magnum::BaseGraphics::look_at (\n const Eigen::Vector3d & camera_pos,\n const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0),\n const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)\n) \ninline BaseApplication * robot_dart::gui::magnum::BaseGraphics::magnum_app () \ninline const BaseApplication * robot_dart::gui::magnum::BaseGraphics::magnum_app () const\ninline Magnum::Image2D * robot_dart::gui::magnum::BaseGraphics::magnum_image () \ninline size_t robot_dart::gui::magnum::BaseGraphics::num_lights () const\ninline virtual GrayscaleImage robot_dart::gui::magnum::BaseGraphics::raw_depth_image () override\nImplements robot_dart::gui::Base::raw_depth_image
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-record_video","title":"function record_video","text":"inline void robot_dart::gui::magnum::BaseGraphics::record_video (\n const std::string & video_fname,\n int fps=-1\n) \ninline virtual void robot_dart::gui::magnum::BaseGraphics::refresh () override\nImplements robot_dart::gui::Base::refresh
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_enable","title":"function set_enable","text":"inline virtual void robot_dart::gui::magnum::BaseGraphics::set_enable (\n bool enable\n) override\nImplements robot_dart::gui::Base::set_enable
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_fps","title":"function set_fps","text":"inline virtual void robot_dart::gui::magnum::BaseGraphics::set_fps (\n int fps\n) override\nImplements robot_dart::gui::Base::set_fps
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_simu","title":"function set_simu","text":"inline virtual void robot_dart::gui::magnum::BaseGraphics::set_simu (\n RobotDARTSimu * simu\n) override\nImplements robot_dart::gui::Base::set_simu
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-shadowed","title":"function shadowed","text":"inline bool robot_dart::gui::magnum::BaseGraphics::shadowed () const\ninline bool robot_dart::gui::magnum::BaseGraphics::transparent_shadows () const\ninline virtual size_t robot_dart::gui::magnum::BaseGraphics::width () override const\nImplements robot_dart::gui::Base::width
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics_1","title":"function ~BaseGraphics","text":"inline virtual robot_dart::gui::magnum::BaseGraphics::~BaseGraphics () \nGraphicsConfiguration robot_dart::gui::magnum::BaseGraphics< T >::_configuration;\nbool robot_dart::gui::magnum::BaseGraphics< T >::_enabled;\nint robot_dart::gui::magnum::BaseGraphics< T >::_fps;\nstd::unique_ptr<BaseApplication> robot_dart::gui::magnum::BaseGraphics< T >::_magnum_app;\nCorrade::Utility::Debug robot_dart::gui::magnum::BaseGraphics< T >::_magnum_silence_output;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_graphics.hpp
ClassList > robot_dart > gui > magnum > CubeMapShadowedColorObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#public-functions","title":"Public Functions","text":"Type Name CubeMapShadowedColorObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, gs::CubeMapColor & shader, gs::CubeMapColor & texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) CubeMapShadowedColorObject & set_materials (const std::vector< gs::Material > & materials) CubeMapShadowedColorObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) CubeMapShadowedColorObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-cubemapshadowedcolorobject","title":"function CubeMapShadowedColorObject","text":"explicit robot_dart::gui::magnum::CubeMapShadowedColorObject::CubeMapShadowedColorObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n gs::CubeMapColor & shader,\n gs::CubeMapColor & texture_shader,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \nCubeMapShadowedColorObject & robot_dart::gui::magnum::CubeMapShadowedColorObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nCubeMapShadowedColorObject & robot_dart::gui::magnum::CubeMapShadowedColorObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nCubeMapShadowedColorObject & robot_dart::gui::magnum::CubeMapShadowedColorObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::CubeMapShadowedColorObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::CubeMapShadowedColorObject::simu () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > CubeMapShadowedObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#public-functions","title":"Public Functions","text":"Type Name CubeMapShadowedObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, gs::CubeMap & shader, gs::CubeMap & texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) CubeMapShadowedObject & set_materials (const std::vector< gs::Material > & materials) CubeMapShadowedObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) CubeMapShadowedObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-cubemapshadowedobject","title":"function CubeMapShadowedObject","text":"explicit robot_dart::gui::magnum::CubeMapShadowedObject::CubeMapShadowedObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n gs::CubeMap & shader,\n gs::CubeMap & texture_shader,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \nCubeMapShadowedObject & robot_dart::gui::magnum::CubeMapShadowedObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nCubeMapShadowedObject & robot_dart::gui::magnum::CubeMapShadowedObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nCubeMapShadowedObject & robot_dart::gui::magnum::CubeMapShadowedObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::CubeMapShadowedObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::CubeMapShadowedObject::simu () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > DebugDrawData
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#public-attributes","title":"Public Attributes","text":"Type Name Magnum::GL::Mesh * axes_mesh Magnum::Shaders::VertexColorGL3D * axes_shader Magnum::GL::Mesh * background_mesh Magnum::Shaders::FlatGL2D * background_shader Magnum::Text::DistanceFieldGlyphCache * cache Magnum::Text::AbstractFont * font Magnum::GL::Buffer * text_indices Magnum::Shaders::DistanceFieldVectorGL2D * text_shader Magnum::GL::Buffer * text_vertices"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-axes_mesh","title":"variable axes_mesh","text":"Magnum::GL::Mesh* robot_dart::gui::magnum::DebugDrawData::axes_mesh;\nMagnum::Shaders::VertexColorGL3D* robot_dart::gui::magnum::DebugDrawData::axes_shader;\nMagnum::GL::Mesh* robot_dart::gui::magnum::DebugDrawData::background_mesh;\nMagnum::Shaders::FlatGL2D* robot_dart::gui::magnum::DebugDrawData::background_shader;\nMagnum::Text::DistanceFieldGlyphCache* robot_dart::gui::magnum::DebugDrawData::cache;\nMagnum::Text::AbstractFont* robot_dart::gui::magnum::DebugDrawData::font;\nMagnum::GL::Buffer* robot_dart::gui::magnum::DebugDrawData::text_indices;\nMagnum::Shaders::DistanceFieldVectorGL2D* robot_dart::gui::magnum::DebugDrawData::text_shader;\nMagnum::GL::Buffer* robot_dart::gui::magnum::DebugDrawData::text_vertices;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
ClassList > robot_dart > gui > magnum > DrawableObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#public-functions","title":"Public Functions","text":"Type Name DrawableObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, const std::vector< gs::Material > & materials, gs::PhongMultiLight & color, gs::PhongMultiLight & texture, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) const std::vector< gs::Material > & materials () const DrawableObject & set_color_shader (std::reference_wrapper< gs::PhongMultiLight > shader) DrawableObject & set_materials (const std::vector< gs::Material > & materials) DrawableObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) DrawableObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) DrawableObject & set_soft_bodies (const std::vector< bool > & softBody) DrawableObject & set_texture_shader (std::reference_wrapper< gs::PhongMultiLight > shader) DrawableObject & set_transparent (bool transparent=true) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const bool transparent () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-drawableobject","title":"function DrawableObject","text":"explicit robot_dart::gui::magnum::DrawableObject::DrawableObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n const std::vector< gs::Material > & materials,\n gs::PhongMultiLight & color,\n gs::PhongMultiLight & texture,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \ninline const std::vector< gs::Material > & robot_dart::gui::magnum::DrawableObject::materials () const\nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_color_shader (\n std::reference_wrapper< gs::PhongMultiLight > shader\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_soft_bodies (\n const std::vector< bool > & softBody\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_texture_shader (\n std::reference_wrapper< gs::PhongMultiLight > shader\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_transparent (\n bool transparent=true\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::DrawableObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::DrawableObject::simu () const\ninline bool robot_dart::gui::magnum::DrawableObject::transparent () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > GlfwApplication
Inherits the following classes: robot_dart::gui::magnum::BaseApplication, Magnum::Platform::Application
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions","title":"Public Functions","text":"Type Name GlfwApplication (int argc, char ** argv, RobotDARTSimu * simu, const GraphicsConfiguration & configuration=GraphicsConfiguration()) virtual void render () override ~GlfwApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Public Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name BaseApplication (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const gs::Light & light) bool attach_camera (gs::Camera & camera, dart::dynamics::BodyNode * body) gs::Camera & camera () const gs::Camera & camera () const void clear_lights () DebugDrawData debug_draw_data () DepthImage depth_array () GrayscaleImage depth_image () bool done () const Magnum::SceneGraph::DrawableGroup3D & drawables () void enable_shadows (bool enable=true, bool drawTransparentShadows=false) Corrade::Containers::Optional< Magnum::Image2D > & image () void init (RobotDARTSimu * simu, const GraphicsConfiguration & configuration) gs::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at, const Eigen::Vector3d & up) size_t num_lights () const GrayscaleImage raw_depth_image () void record_video (const std::string & video_fname, int fps) virtual void render () void render_shadows () Scene3D & scene () bool shadowed () const bool transparent_shadows () const void update_graphics () void update_lights (const gs::Camera & camera) virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _bg_color bool _draw_debug bool _draw_main_camera RobotDARTSimu * _simu Magnum::Float _speed_move Magnum::Float _speed_strafe"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name std::unique_ptr< Magnum::GL::Mesh > _3D_axis_mesh std::unique_ptr< Magnum::Shaders::VertexColorGL3D > _3D_axis_shader std::unique_ptr< Magnum::GL::Mesh > _background_mesh std::unique_ptr< Magnum::Shaders::FlatGL2D > _background_shader std::unique_ptr< gs::Camera > _camera std::unique_ptr< gs::PhongMultiLight > _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr< gs::CubeMapColor > _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr< gs::CubeMap > _cubemap_shader std::unique_ptr< gs::CubeMapColor > _cubemap_texture_color_shader std::unique_ptr< gs::CubeMap > _cubemap_texture_shader std::unique_ptr< Magnum::DartIntegration::World > _dart_world bool _done = = false std::unordered_map< Magnum::DartIntegration::Object *, ObjectStruct * > _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer< Magnum::Text::AbstractFont > _font Corrade::PluginManager::Manager< Magnum::Text::AbstractFont > _font_manager Corrade::Containers::Pointer< Magnum::Text::DistanceFieldGlyphCache > _glyph_cache Corrade::PluginManager::Manager< Magnum::Trade::AbstractImporter > _importer_manager std::vector< gs::Light > _lights int _max_lights = = 5 Scene3D _scene std::unique_ptr< Camera3D > _shadow_camera Object3D * _shadow_camera_object std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_color_cube_map std::unique_ptr< gs::ShadowMapColor > _shadow_color_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_color_texture std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_cube_map std::vector< ShadowData > _shadow_data int _shadow_map_size = = 512 std::unique_ptr< gs::ShadowMap > _shadow_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_texture std::unique_ptr< gs::ShadowMapColor > _shadow_texture_color_shader std::unique_ptr< gs::ShadowMap > _shadow_texture_shader bool _shadowed = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_indices std::unique_ptr< Magnum::Shaders::DistanceFieldVectorGL2D > _text_shader Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_vertices std::unique_ptr< gs::PhongMultiLight > _texture_shader int _transparentSize = = 0 bool _transparent_shadows = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-static-attributes","title":"Protected Static Attributes","text":"Type Name Magnum::Float _speed = = 0.05f"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions","title":"Protected Functions","text":"Type Name void drawEvent () override void exitEvent (ExitEvent & event) override virtual void keyPressEvent (KeyEvent & event) override virtual void keyReleaseEvent (KeyEvent & event) override virtual void mouseMoveEvent (MouseMoveEvent & event) override virtual void mouseScrollEvent (MouseScrollEvent & event) override void viewportEvent (ViewportEvent & event) override"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name void _gl_clean_up () void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-glfwapplication","title":"function GlfwApplication","text":"explicit robot_dart::gui::magnum::GlfwApplication::GlfwApplication (\n int argc,\n char ** argv,\n RobotDARTSimu * simu,\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \nvirtual void robot_dart::gui::magnum::GlfwApplication::render () override\nImplements robot_dart::gui::magnum::BaseApplication::render
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-glfwapplication_1","title":"function ~GlfwApplication","text":"robot_dart::gui::magnum::GlfwApplication::~GlfwApplication () \nMagnum::Color4 robot_dart::gui::magnum::GlfwApplication::_bg_color;\nbool robot_dart::gui::magnum::GlfwApplication::_draw_debug;\nbool robot_dart::gui::magnum::GlfwApplication::_draw_main_camera;\nRobotDARTSimu* robot_dart::gui::magnum::GlfwApplication::_simu;\nMagnum::Float robot_dart::gui::magnum::GlfwApplication::_speed_move;\nMagnum::Float robot_dart::gui::magnum::GlfwApplication::_speed_strafe;\nMagnum::Float robot_dart::gui::magnum::GlfwApplication::_speed;\nvoid robot_dart::gui::magnum::GlfwApplication::drawEvent () override\nvoid robot_dart::gui::magnum::GlfwApplication::exitEvent (\n ExitEvent & event\n) override\nvirtual void robot_dart::gui::magnum::GlfwApplication::keyPressEvent (\n KeyEvent & event\n) override\nvirtual void robot_dart::gui::magnum::GlfwApplication::keyReleaseEvent (\n KeyEvent & event\n) override\nvirtual void robot_dart::gui::magnum::GlfwApplication::mouseMoveEvent (\n MouseMoveEvent & event\n) override\nvirtual void robot_dart::gui::magnum::GlfwApplication::mouseScrollEvent (\n MouseScrollEvent & event\n) override\nvoid robot_dart::gui::magnum::GlfwApplication::viewportEvent (\n ViewportEvent & event\n) override\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/glfw_application.hpp
ClassList > robot_dart > gui > magnum > GlobalData
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-functions","title":"Public Functions","text":"Type Name GlobalData (const GlobalData &) = delete void free_gl_context (Magnum::Platform::WindowlessGLContext * context) Magnum::Platform::WindowlessGLContext * gl_context () void operator= (const GlobalData &) = delete void set_max_contexts (size_t N)"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-static-functions","title":"Public Static Functions","text":"Type Name GlobalData * instance ()"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-globaldata-12","title":"function GlobalData [\u00bd]","text":"robot_dart::gui::magnum::GlobalData::GlobalData (\n const GlobalData &\n) = delete\nvoid robot_dart::gui::magnum::GlobalData::free_gl_context (\n Magnum::Platform::WindowlessGLContext * context\n) \nMagnum::Platform::WindowlessGLContext * robot_dart::gui::magnum::GlobalData::gl_context () \nvoid robot_dart::gui::magnum::GlobalData::operator= (\n const GlobalData &\n) = delete\nvoid robot_dart::gui::magnum::GlobalData::set_max_contexts (\n size_t N\n) \nstatic inline GlobalData * robot_dart::gui::magnum::GlobalData::instance () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
ClassList > robot_dart > gui > magnum > Graphics
Inherits the following classes: robot_dart::gui::magnum::BaseGraphics
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions","title":"Public Functions","text":"Type Name Graphics (const GraphicsConfiguration & configuration=default_configuration()) virtual void set_simu (RobotDARTSimu * simu) override ~Graphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-inherited-from-robot_dartguimagnumbasegraphics","title":"Public Functions inherited from robot_dart::gui::magnum::BaseGraphics","text":"See robot_dart::gui::magnum::BaseGraphics
Type Name BaseGraphics (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const magnum::Light & light) gs::Camera & camera () const gs::Camera & camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights () virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true) virtual size_t height () override const virtual Image image () override magnum::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) BaseApplication * magnum_app () const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image () size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string & video_fname, int fps=-1) virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name Base () virtual DepthImage depth_array () virtual GrayscaleImage depth_image () virtual bool done () const virtual size_t height () const virtual Image image () virtual GrayscaleImage raw_depth_image () virtual void refresh () virtual void set_enable (bool) virtual void set_fps (int) virtual void set_render_period (double) virtual void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-static-functions","title":"Public Static Functions","text":"Type Name GraphicsConfiguration default_configuration ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#protected-attributes-inherited-from-robot_dartguimagnumbasegraphics","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseGraphics","text":"See robot_dart::gui::magnum::BaseGraphics
Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr< BaseApplication > _magnum_app Corrade::Utility::Debug _magnum_silence_output = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name RobotDARTSimu * _simu = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-graphics","title":"function Graphics","text":"inline robot_dart::gui::magnum::Graphics::Graphics (\n const GraphicsConfiguration & configuration=default_configuration()\n) \nvirtual void robot_dart::gui::magnum::Graphics::set_simu (\n RobotDARTSimu * simu\n) override\nImplements robot_dart::gui::magnum::BaseGraphics::set_simu
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-graphics_1","title":"function ~Graphics","text":"inline robot_dart::gui::magnum::Graphics::~Graphics () \nstatic GraphicsConfiguration robot_dart::gui::magnum::Graphics::default_configuration () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/graphics.hpp
ClassList > robot_dart > gui > magnum > GraphicsConfiguration
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#public-attributes","title":"Public Attributes","text":"Type Name Eigen::Vector4d bg_color = {0.0, 0.0, 0.0, 1.0} bool draw_debug = = true bool draw_main_camera = = true bool draw_text = = true size_t height = = 480 size_t max_lights = = 3 size_t shadow_map_size = = 1024 bool shadowed = = true double specular_strength = = 0.25 std::string title = = \"DART\" bool transparent_shadows = = true size_t width = = 640"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-bg_color","title":"variable bg_color","text":"Eigen::Vector4d robot_dart::gui::magnum::GraphicsConfiguration::bg_color;\nbool robot_dart::gui::magnum::GraphicsConfiguration::draw_debug;\nbool robot_dart::gui::magnum::GraphicsConfiguration::draw_main_camera;\nbool robot_dart::gui::magnum::GraphicsConfiguration::draw_text;\nsize_t robot_dart::gui::magnum::GraphicsConfiguration::height;\nsize_t robot_dart::gui::magnum::GraphicsConfiguration::max_lights;\nsize_t robot_dart::gui::magnum::GraphicsConfiguration::shadow_map_size;\nbool robot_dart::gui::magnum::GraphicsConfiguration::shadowed;\ndouble robot_dart::gui::magnum::GraphicsConfiguration::specular_strength;\nstd::string robot_dart::gui::magnum::GraphicsConfiguration::title;\nbool robot_dart::gui::magnum::GraphicsConfiguration::transparent_shadows;\nsize_t robot_dart::gui::magnum::GraphicsConfiguration::width;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
ClassList > robot_dart > gui > magnum > ObjectStruct
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#public-attributes","title":"Public Attributes","text":"Type Name CubeMapShadowedObject * cubemapped CubeMapShadowedColorObject * cubemapped_color DrawableObject * drawable ShadowedObject * shadowed ShadowedColorObject * shadowed_color"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-cubemapped","title":"variable cubemapped","text":"CubeMapShadowedObject* robot_dart::gui::magnum::ObjectStruct::cubemapped;\nCubeMapShadowedColorObject* robot_dart::gui::magnum::ObjectStruct::cubemapped_color;\nDrawableObject* robot_dart::gui::magnum::ObjectStruct::drawable;\nShadowedObject* robot_dart::gui::magnum::ObjectStruct::shadowed;\nShadowedColorObject* robot_dart::gui::magnum::ObjectStruct::shadowed_color;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > ShadowData
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#public-attributes","title":"Public Attributes","text":"Type Name Magnum::GL::Framebuffer shadow_color_framebuffer = {Magnum::NoCreate} Magnum::GL::Framebuffer shadow_framebuffer = {Magnum::NoCreate}"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#variable-shadow_color_framebuffer","title":"variable shadow_color_framebuffer","text":"Magnum::GL::Framebuffer robot_dart::gui::magnum::ShadowData::shadow_color_framebuffer;\nMagnum::GL::Framebuffer robot_dart::gui::magnum::ShadowData::shadow_framebuffer;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > ShadowedColorObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#public-functions","title":"Public Functions","text":"Type Name ShadowedColorObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, gs::ShadowMapColor & shader, gs::ShadowMapColor & texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) ShadowedColorObject & set_materials (const std::vector< gs::Material > & materials) ShadowedColorObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) ShadowedColorObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-shadowedcolorobject","title":"function ShadowedColorObject","text":"explicit robot_dart::gui::magnum::ShadowedColorObject::ShadowedColorObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n gs::ShadowMapColor & shader,\n gs::ShadowMapColor & texture_shader,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \nShadowedColorObject & robot_dart::gui::magnum::ShadowedColorObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nShadowedColorObject & robot_dart::gui::magnum::ShadowedColorObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nShadowedColorObject & robot_dart::gui::magnum::ShadowedColorObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::ShadowedColorObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::ShadowedColorObject::simu () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > ShadowedObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#public-functions","title":"Public Functions","text":"Type Name ShadowedObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, gs::ShadowMap & shader, gs::ShadowMap & texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) ShadowedObject & set_materials (const std::vector< gs::Material > & materials) ShadowedObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) ShadowedObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-shadowedobject","title":"function ShadowedObject","text":"explicit robot_dart::gui::magnum::ShadowedObject::ShadowedObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n gs::ShadowMap & shader,\n gs::ShadowMap & texture_shader,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \nShadowedObject & robot_dart::gui::magnum::ShadowedObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nShadowedObject & robot_dart::gui::magnum::ShadowedObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nShadowedObject & robot_dart::gui::magnum::ShadowedObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::ShadowedObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::ShadowedObject::simu () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > WindowlessGLApplication
Inherits the following classes: robot_dart::gui::magnum::BaseApplication, Magnum::Platform::WindowlessApplication
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions","title":"Public Functions","text":"Type Name WindowlessGLApplication (int argc, char ** argv, RobotDARTSimu * simu, const GraphicsConfiguration & configuration=GraphicsConfiguration()) virtual void render () override ~WindowlessGLApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Public Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name BaseApplication (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const gs::Light & light) bool attach_camera (gs::Camera & camera, dart::dynamics::BodyNode * body) gs::Camera & camera () const gs::Camera & camera () const void clear_lights () DebugDrawData debug_draw_data () DepthImage depth_array () GrayscaleImage depth_image () bool done () const Magnum::SceneGraph::DrawableGroup3D & drawables () void enable_shadows (bool enable=true, bool drawTransparentShadows=false) Corrade::Containers::Optional< Magnum::Image2D > & image () void init (RobotDARTSimu * simu, const GraphicsConfiguration & configuration) gs::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at, const Eigen::Vector3d & up) size_t num_lights () const GrayscaleImage raw_depth_image () void record_video (const std::string & video_fname, int fps) virtual void render () void render_shadows () Scene3D & scene () bool shadowed () const bool transparent_shadows () const void update_graphics () void update_lights (const gs::Camera & camera) virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _bg_color Magnum::GL::Renderbuffer _color = {Magnum::NoCreate} Magnum::GL::Renderbuffer _depth = {Magnum::NoCreate} bool _draw_debug bool _draw_main_camera Magnum::PixelFormat _format Magnum::GL::Framebuffer _framebuffer = {Magnum::NoCreate} RobotDARTSimu * _simu"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name std::unique_ptr< Magnum::GL::Mesh > _3D_axis_mesh std::unique_ptr< Magnum::Shaders::VertexColorGL3D > _3D_axis_shader std::unique_ptr< Magnum::GL::Mesh > _background_mesh std::unique_ptr< Magnum::Shaders::FlatGL2D > _background_shader std::unique_ptr< gs::Camera > _camera std::unique_ptr< gs::PhongMultiLight > _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr< gs::CubeMapColor > _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr< gs::CubeMap > _cubemap_shader std::unique_ptr< gs::CubeMapColor > _cubemap_texture_color_shader std::unique_ptr< gs::CubeMap > _cubemap_texture_shader std::unique_ptr< Magnum::DartIntegration::World > _dart_world bool _done = = false std::unordered_map< Magnum::DartIntegration::Object *, ObjectStruct * > _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer< Magnum::Text::AbstractFont > _font Corrade::PluginManager::Manager< Magnum::Text::AbstractFont > _font_manager Corrade::Containers::Pointer< Magnum::Text::DistanceFieldGlyphCache > _glyph_cache Corrade::PluginManager::Manager< Magnum::Trade::AbstractImporter > _importer_manager std::vector< gs::Light > _lights int _max_lights = = 5 Scene3D _scene std::unique_ptr< Camera3D > _shadow_camera Object3D * _shadow_camera_object std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_color_cube_map std::unique_ptr< gs::ShadowMapColor > _shadow_color_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_color_texture std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_cube_map std::vector< ShadowData > _shadow_data int _shadow_map_size = = 512 std::unique_ptr< gs::ShadowMap > _shadow_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_texture std::unique_ptr< gs::ShadowMapColor > _shadow_texture_color_shader std::unique_ptr< gs::ShadowMap > _shadow_texture_shader bool _shadowed = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_indices std::unique_ptr< Magnum::Shaders::DistanceFieldVectorGL2D > _text_shader Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_vertices std::unique_ptr< gs::PhongMultiLight > _texture_shader int _transparentSize = = 0 bool _transparent_shadows = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions","title":"Protected Functions","text":"Type Name virtual int exec () override"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name void _gl_clean_up () void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-windowlessglapplication","title":"function WindowlessGLApplication","text":"explicit robot_dart::gui::magnum::WindowlessGLApplication::WindowlessGLApplication (\n int argc,\n char ** argv,\n RobotDARTSimu * simu,\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \nvirtual void robot_dart::gui::magnum::WindowlessGLApplication::render () override\nImplements robot_dart::gui::magnum::BaseApplication::render
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-windowlessglapplication_1","title":"function ~WindowlessGLApplication","text":"robot_dart::gui::magnum::WindowlessGLApplication::~WindowlessGLApplication () \nMagnum::Color4 robot_dart::gui::magnum::WindowlessGLApplication::_bg_color;\nMagnum::GL::Renderbuffer robot_dart::gui::magnum::WindowlessGLApplication::_color;\nMagnum::GL::Renderbuffer robot_dart::gui::magnum::WindowlessGLApplication::_depth;\nbool robot_dart::gui::magnum::WindowlessGLApplication::_draw_debug;\nbool robot_dart::gui::magnum::WindowlessGLApplication::_draw_main_camera;\nMagnum::PixelFormat robot_dart::gui::magnum::WindowlessGLApplication::_format;\nMagnum::GL::Framebuffer robot_dart::gui::magnum::WindowlessGLApplication::_framebuffer;\nRobotDARTSimu* robot_dart::gui::magnum::WindowlessGLApplication::_simu;\ninline virtual int robot_dart::gui::magnum::WindowlessGLApplication::exec () override\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_gl_application.hpp
ClassList > robot_dart > gui > magnum > WindowlessGraphics
Inherits the following classes: robot_dart::gui::magnum::BaseGraphics
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions","title":"Public Functions","text":"Type Name WindowlessGraphics (const GraphicsConfiguration & configuration=default_configuration()) virtual void set_simu (RobotDARTSimu * simu) override ~WindowlessGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-inherited-from-robot_dartguimagnumbasegraphics","title":"Public Functions inherited from robot_dart::gui::magnum::BaseGraphics","text":"See robot_dart::gui::magnum::BaseGraphics
Type Name BaseGraphics (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const magnum::Light & light) gs::Camera & camera () const gs::Camera & camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights () virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true) virtual size_t height () override const virtual Image image () override magnum::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) BaseApplication * magnum_app () const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image () size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string & video_fname, int fps=-1) virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name Base () virtual DepthImage depth_array () virtual GrayscaleImage depth_image () virtual bool done () const virtual size_t height () const virtual Image image () virtual GrayscaleImage raw_depth_image () virtual void refresh () virtual void set_enable (bool) virtual void set_fps (int) virtual void set_render_period (double) virtual void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-static-functions","title":"Public Static Functions","text":"Type Name GraphicsConfiguration default_configuration ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#protected-attributes-inherited-from-robot_dartguimagnumbasegraphics","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseGraphics","text":"See robot_dart::gui::magnum::BaseGraphics
Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr< BaseApplication > _magnum_app Corrade::Utility::Debug _magnum_silence_output = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name RobotDARTSimu * _simu = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-windowlessgraphics","title":"function WindowlessGraphics","text":"inline robot_dart::gui::magnum::WindowlessGraphics::WindowlessGraphics (\n const GraphicsConfiguration & configuration=default_configuration()\n) \nvirtual void robot_dart::gui::magnum::WindowlessGraphics::set_simu (\n RobotDARTSimu * simu\n) override\nImplements robot_dart::gui::magnum::BaseGraphics::set_simu
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-windowlessgraphics_1","title":"function ~WindowlessGraphics","text":"inline robot_dart::gui::magnum::WindowlessGraphics::~WindowlessGraphics () \nstatic GraphicsConfiguration robot_dart::gui::magnum::WindowlessGraphics::default_configuration () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_graphics.hpp
Namespace List > robot_dart > gui > magnum > gs
"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#classes","title":"Classes","text":"Type Name class Camera class CubeMap class CubeMapColor class Light class Material class PhongMultiLight class ShadowMap class ShadowMapColor"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-functions","title":"Public Functions","text":"Type Name Light create_directional_light (const Magnum::Vector3 & direction, const Material & material) Light create_point_light (const Magnum::Vector3 & position, const Material & material, Magnum::Float intensity, const Magnum::Vector3 & attenuationTerms) Light create_spot_light (const Magnum::Vector3 & position, const Material & material, const Magnum::Vector3 & spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off, Magnum::Float intensity, const Magnum::Vector3 & attenuationTerms) DepthImage depth_array_from_image (Magnum::Image2D * image, Magnum::Float near_plane, Magnum::Float far_plane) GrayscaleImage depth_from_image (Magnum::Image2D * image, bool linearize, Magnum::Float near_plane, Magnum::Float far_plane) Image rgb_from_image (Magnum::Image2D * image)"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-static-functions","title":"Public Static Functions","text":"Type Name fs::path search_path (const fs::path & filename)"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-create_directional_light","title":"function create_directional_light","text":"inline Light robot_dart::gui::magnum::gs::create_directional_light (\n const Magnum::Vector3 & direction,\n const Material & material\n) \ninline Light robot_dart::gui::magnum::gs::create_point_light (\n const Magnum::Vector3 & position,\n const Material & material,\n Magnum::Float intensity,\n const Magnum::Vector3 & attenuationTerms\n) \ninline Light robot_dart::gui::magnum::gs::create_spot_light (\n const Magnum::Vector3 & position,\n const Material & material,\n const Magnum::Vector3 & spot_direction,\n Magnum::Float spot_exponent,\n Magnum::Float spot_cut_off,\n Magnum::Float intensity,\n const Magnum::Vector3 & attenuationTerms\n) \nDepthImage robot_dart::gui::magnum::gs::depth_array_from_image (\n Magnum::Image2D * image,\n Magnum::Float near_plane,\n Magnum::Float far_plane\n) \nGrayscaleImage robot_dart::gui::magnum::gs::depth_from_image (\n Magnum::Image2D * image,\n bool linearize,\n Magnum::Float near_plane,\n Magnum::Float far_plane\n) \nImage robot_dart::gui::magnum::gs::rgb_from_image (\n Magnum::Image2D * image\n) \nstatic fs::path robot_dart::gui::magnum::gs::search_path (\n const fs::path & filename\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.cpp
ClassList > robot_dart > gui > magnum > gs > Camera
Inherits the following classes: Object3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#public-functions","title":"Public Functions","text":"Type Name Camera (Object3D & object, Magnum::Int width, Magnum::Int height) Camera3D & camera () const Object3D & camera_object () const Corrade::Containers::Optional< Magnum::Image2D > & depth_image () void draw (Magnum::SceneGraph::DrawableGroup3D & drawables, Magnum::GL::AbstractFramebuffer & framebuffer, Magnum::PixelFormat format, RobotDARTSimu * simu, const DebugDrawData & debug_data, bool draw_debug=true) Magnum::Matrix4 extrinsic_matrix () const Magnum::Float far_plane () const Camera & forward (Magnum::Float speed) Magnum::Float fov () const Magnum::Int height () const Corrade::Containers::Optional< Magnum::Image2D > & image () Magnum::Matrix3 intrinsic_matrix () const Camera & look_at (const Magnum::Vector3 & camera, const Magnum::Vector3 & center, const Magnum::Vector3 & up=Magnum::Vector3::zAxis()) Camera & move (const Magnum::Vector2i & shift) Magnum::Float near_plane () const void record (bool recording, bool recording_depth=false) void record_video (const std::string & video_fname, int fps) bool recording () bool recording_depth () Object3D & root_object () Camera & set_camera_params (Magnum::Float near_plane, Magnum::Float far_plane, Magnum::Float fov, Magnum::Int width, Magnum::Int height) Camera & set_far_plane (Magnum::Float far_plane) Camera & set_fov (Magnum::Float fov) Camera & set_near_plane (Magnum::Float near_plane) Camera & set_speed (const Magnum::Vector2 & speed) Camera & set_viewport (const Magnum::Vector2i & size) Magnum::Vector2 speed () const Camera & strafe (Magnum::Float speed) void transform_lights (std::vector< gs::Light > & lights) const Magnum::Int width () const ~Camera ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera","title":"function Camera","text":"explicit robot_dart::gui::magnum::gs::Camera::Camera (\n Object3D & object,\n Magnum::Int width,\n Magnum::Int height\n) \nCamera3D & robot_dart::gui::magnum::gs::Camera::camera () const\nObject3D & robot_dart::gui::magnum::gs::Camera::camera_object () const\ninline Corrade::Containers::Optional< Magnum::Image2D > & robot_dart::gui::magnum::gs::Camera::depth_image () \nvoid robot_dart::gui::magnum::gs::Camera::draw (\n Magnum::SceneGraph::DrawableGroup3D & drawables,\n Magnum::GL::AbstractFramebuffer & framebuffer,\n Magnum::PixelFormat format,\n RobotDARTSimu * simu,\n const DebugDrawData & debug_data,\n bool draw_debug=true\n) \nMagnum::Matrix4 robot_dart::gui::magnum::gs::Camera::extrinsic_matrix () const\ninline Magnum::Float robot_dart::gui::magnum::gs::Camera::far_plane () const\nCamera & robot_dart::gui::magnum::gs::Camera::forward (\n Magnum::Float speed\n) \ninline Magnum::Float robot_dart::gui::magnum::gs::Camera::fov () const\ninline Magnum::Int robot_dart::gui::magnum::gs::Camera::height () const\ninline Corrade::Containers::Optional< Magnum::Image2D > & robot_dart::gui::magnum::gs::Camera::image () \nMagnum::Matrix3 robot_dart::gui::magnum::gs::Camera::intrinsic_matrix () const\nCamera & robot_dart::gui::magnum::gs::Camera::look_at (\n const Magnum::Vector3 & camera,\n const Magnum::Vector3 & center,\n const Magnum::Vector3 & up=Magnum::Vector3::zAxis()\n) \nCamera & robot_dart::gui::magnum::gs::Camera::move (\n const Magnum::Vector2i & shift\n) \ninline Magnum::Float robot_dart::gui::magnum::gs::Camera::near_plane () const\ninline void robot_dart::gui::magnum::gs::Camera::record (\n bool recording,\n bool recording_depth=false\n) \nvoid robot_dart::gui::magnum::gs::Camera::record_video (\n const std::string & video_fname,\n int fps\n) \ninline bool robot_dart::gui::magnum::gs::Camera::recording () \ninline bool robot_dart::gui::magnum::gs::Camera::recording_depth () \nObject3D & robot_dart::gui::magnum::gs::Camera::root_object () \nCamera & robot_dart::gui::magnum::gs::Camera::set_camera_params (\n Magnum::Float near_plane,\n Magnum::Float far_plane,\n Magnum::Float fov,\n Magnum::Int width,\n Magnum::Int height\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_far_plane (\n Magnum::Float far_plane\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_fov (\n Magnum::Float fov\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_near_plane (\n Magnum::Float near_plane\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_speed (\n const Magnum::Vector2 & speed\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_viewport (\n const Magnum::Vector2i & size\n) \ninline Magnum::Vector2 robot_dart::gui::magnum::gs::Camera::speed () const\nCamera & robot_dart::gui::magnum::gs::Camera::strafe (\n Magnum::Float speed\n) \nvoid robot_dart::gui::magnum::gs::Camera::transform_lights (\n std::vector< gs::Light > & lights\n) const\ninline Magnum::Int robot_dart::gui::magnum::gs::Camera::width () const\nrobot_dart::gui::magnum::gs::Camera::~Camera () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.hpp
ClassList > robot_dart > gui > magnum > gs > CubeMap
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-functions","title":"Public Functions","text":"Type Name CubeMap (Flags flags={}) CubeMap (Magnum::NoCreateT) noexcept Flags flags () const CubeMap & set_far_plane (Magnum::Float far_plane) CubeMap & set_light_index (Magnum::Int index) CubeMap & set_light_position (const Magnum::Vector3 & position) CubeMap & set_material (Material & material) CubeMap & set_shadow_matrices (Magnum::Matrix4 matrices) CubeMap & set_transformation_matrix (const Magnum::Matrix4 & matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::CubeMap::Flag {\n DiffuseTexture = 1 << 0\n};\nusing robot_dart::gui::magnum::gs::CubeMap::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::CubeMap::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::CubeMap::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::CubeMap::CubeMap (\n Flags flags={}\n) \nexplicit robot_dart::gui::magnum::gs::CubeMap::CubeMap (\n Magnum::NoCreateT\n) noexcept\nFlags robot_dart::gui::magnum::gs::CubeMap::flags () const\nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_far_plane (\n Magnum::Float far_plane\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_light_index (\n Magnum::Int index\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_light_position (\n const Magnum::Vector3 & position\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_material (\n Material & material\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_shadow_matrices (\n Magnum::Matrix4 matrices\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map.hpp
ClassList > robot_dart > gui > magnum > gs > CubeMapColor
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-functions","title":"Public Functions","text":"Type Name CubeMapColor (Flags flags={}) CubeMapColor (Magnum::NoCreateT) noexcept CubeMapColor & bind_cube_map_texture (Magnum::GL::CubeMapTextureArray & texture) Flags flags () const CubeMapColor & set_far_plane (Magnum::Float far_plane) CubeMapColor & set_light_index (Magnum::Int index) CubeMapColor & set_light_position (const Magnum::Vector3 & position) CubeMapColor & set_material (Material & material) CubeMapColor & set_shadow_matrices (Magnum::Matrix4 matrices) CubeMapColor & set_transformation_matrix (const Magnum::Matrix4 & matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::CubeMapColor::Flag {\n DiffuseTexture = 1 << 0\n};\nusing robot_dart::gui::magnum::gs::CubeMapColor::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::CubeMapColor::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::CubeMapColor::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::CubeMapColor::CubeMapColor (\n Flags flags={}\n) \nexplicit robot_dart::gui::magnum::gs::CubeMapColor::CubeMapColor (\n Magnum::NoCreateT\n) noexcept\nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::bind_cube_map_texture (\n Magnum::GL::CubeMapTextureArray & texture\n) \nFlags robot_dart::gui::magnum::gs::CubeMapColor::flags () const\nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_far_plane (\n Magnum::Float far_plane\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_light_index (\n Magnum::Int index\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_light_position (\n const Magnum::Vector3 & position\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_material (\n Material & material\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_shadow_matrices (\n Magnum::Matrix4 matrices\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map_color.hpp
ClassList > robot_dart > gui > magnum > gs > Light
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#public-functions","title":"Public Functions","text":"Type Name Light () Light (const Magnum::Vector4 & position, const Material & material, const Magnum::Vector3 & spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4 & attenuation, bool cast_shadows=true) Magnum::Vector4 & attenuation () Magnum::Vector4 attenuation () const bool casts_shadows () const Material & material () Material material () const Magnum::Vector4 position () const Light & set_attenuation (const Magnum::Vector4 & attenuation) Light & set_casts_shadows (bool cast_shadows) Light & set_material (const Material & material) Light & set_position (const Magnum::Vector4 & position) Light & set_shadow_matrix (const Magnum::Matrix4 & shadowTransform) Light & set_spot_cut_off (Magnum::Float spot_cut_off) Light & set_spot_direction (const Magnum::Vector3 & spot_direction) Light & set_spot_exponent (Magnum::Float spot_exponent) Light & set_transformed_position (const Magnum::Vector4 & transformed_position) Light & set_transformed_spot_direction (const Magnum::Vector3 & transformed_spot_direction) Magnum::Matrix4 shadow_matrix () const Magnum::Float & spot_cut_off () Magnum::Float spot_cut_off () const Magnum::Vector3 spot_direction () const Magnum::Float & spot_exponent () Magnum::Float spot_exponent () const Magnum::Vector4 & transformed_position () Magnum::Vector4 transformed_position () const Magnum::Vector3 & transformed_spot_direction () Magnum::Vector3 transformed_spot_direction () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Vector4 _attenuation bool _cast_shadows = = true Material _material Magnum::Vector4 _position Magnum::Matrix4 _shadow_transform = {} Magnum::Float _spot_cut_off Magnum::Vector3 _spot_direction Magnum::Float _spot_exponent Magnum::Vector4 _transformed_position Magnum::Vector3 _transformed_spot_direction"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-light-12","title":"function Light [\u00bd]","text":"robot_dart::gui::magnum::gs::Light::Light () \nrobot_dart::gui::magnum::gs::Light::Light (\n const Magnum::Vector4 & position,\n const Material & material,\n const Magnum::Vector3 & spot_direction,\n Magnum::Float spot_exponent,\n Magnum::Float spot_cut_off,\n const Magnum::Vector4 & attenuation,\n bool cast_shadows=true\n) \nMagnum::Vector4 & robot_dart::gui::magnum::gs::Light::attenuation () \nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::attenuation () const\nbool robot_dart::gui::magnum::gs::Light::casts_shadows () const\nMaterial & robot_dart::gui::magnum::gs::Light::material () \nMaterial robot_dart::gui::magnum::gs::Light::material () const\nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::position () const\nLight & robot_dart::gui::magnum::gs::Light::set_attenuation (\n const Magnum::Vector4 & attenuation\n) \nLight & robot_dart::gui::magnum::gs::Light::set_casts_shadows (\n bool cast_shadows\n) \nLight & robot_dart::gui::magnum::gs::Light::set_material (\n const Material & material\n) \nLight & robot_dart::gui::magnum::gs::Light::set_position (\n const Magnum::Vector4 & position\n) \nLight & robot_dart::gui::magnum::gs::Light::set_shadow_matrix (\n const Magnum::Matrix4 & shadowTransform\n) \nLight & robot_dart::gui::magnum::gs::Light::set_spot_cut_off (\n Magnum::Float spot_cut_off\n) \nLight & robot_dart::gui::magnum::gs::Light::set_spot_direction (\n const Magnum::Vector3 & spot_direction\n) \nLight & robot_dart::gui::magnum::gs::Light::set_spot_exponent (\n Magnum::Float spot_exponent\n) \nLight & robot_dart::gui::magnum::gs::Light::set_transformed_position (\n const Magnum::Vector4 & transformed_position\n) \nLight & robot_dart::gui::magnum::gs::Light::set_transformed_spot_direction (\n const Magnum::Vector3 & transformed_spot_direction\n) \nMagnum::Matrix4 robot_dart::gui::magnum::gs::Light::shadow_matrix () const\nMagnum::Float & robot_dart::gui::magnum::gs::Light::spot_cut_off () \nMagnum::Float robot_dart::gui::magnum::gs::Light::spot_cut_off () const\nMagnum::Vector3 robot_dart::gui::magnum::gs::Light::spot_direction () const\nMagnum::Float & robot_dart::gui::magnum::gs::Light::spot_exponent () \nMagnum::Float robot_dart::gui::magnum::gs::Light::spot_exponent () const\nMagnum::Vector4 & robot_dart::gui::magnum::gs::Light::transformed_position () \nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::transformed_position () const\nMagnum::Vector3 & robot_dart::gui::magnum::gs::Light::transformed_spot_direction () \nMagnum::Vector3 robot_dart::gui::magnum::gs::Light::transformed_spot_direction () const\nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::_attenuation;\nbool robot_dart::gui::magnum::gs::Light::_cast_shadows;\nMaterial robot_dart::gui::magnum::gs::Light::_material;\nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::_position;\nMagnum::Matrix4 robot_dart::gui::magnum::gs::Light::_shadow_transform;\nMagnum::Float robot_dart::gui::magnum::gs::Light::_spot_cut_off;\nMagnum::Vector3 robot_dart::gui::magnum::gs::Light::_spot_direction;\nMagnum::Float robot_dart::gui::magnum::gs::Light::_spot_exponent;\nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::_transformed_position;\nMagnum::Vector3 robot_dart::gui::magnum::gs::Light::_transformed_spot_direction;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/light.hpp
ClassList > robot_dart > gui > magnum > gs > Material
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#public-functions","title":"Public Functions","text":"Type Name Material () Material (const Magnum::Color4 & ambient, const Magnum::Color4 & diffuse, const Magnum::Color4 & specular, Magnum::Float shininess) Material (Magnum::GL::Texture2D * ambient_texture, Magnum::GL::Texture2D * diffuse_texture, Magnum::GL::Texture2D * specular_texture, Magnum::Float shininess) Magnum::Color4 & ambient_color () Magnum::Color4 ambient_color () const Magnum::GL::Texture2D * ambient_texture () Magnum::Color4 & diffuse_color () Magnum::Color4 diffuse_color () const Magnum::GL::Texture2D * diffuse_texture () bool has_ambient_texture () const bool has_diffuse_texture () const bool has_specular_texture () const Material & set_ambient_color (const Magnum::Color4 & ambient) Material & set_ambient_texture (Magnum::GL::Texture2D * ambient_texture) Material & set_diffuse_color (const Magnum::Color4 & diffuse) Material & set_diffuse_texture (Magnum::GL::Texture2D * diffuse_texture) Material & set_shininess (Magnum::Float shininess) Material & set_specular_color (const Magnum::Color4 & specular) Material & set_specular_texture (Magnum::GL::Texture2D * specular_texture) Magnum::Float & shininess () Magnum::Float shininess () const Magnum::Color4 & specular_color () Magnum::Color4 specular_color () const Magnum::GL::Texture2D * specular_texture ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _ambient Magnum::GL::Texture2D * _ambient_texture = = NULL Magnum::Color4 _diffuse Magnum::GL::Texture2D * _diffuse_texture = = NULL Magnum::Float _shininess Magnum::Color4 _specular Magnum::GL::Texture2D * _specular_texture = = NULL"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-material-13","title":"function Material [\u2153]","text":"robot_dart::gui::magnum::gs::Material::Material () \nrobot_dart::gui::magnum::gs::Material::Material (\n const Magnum::Color4 & ambient,\n const Magnum::Color4 & diffuse,\n const Magnum::Color4 & specular,\n Magnum::Float shininess\n) \nrobot_dart::gui::magnum::gs::Material::Material (\n Magnum::GL::Texture2D * ambient_texture,\n Magnum::GL::Texture2D * diffuse_texture,\n Magnum::GL::Texture2D * specular_texture,\n Magnum::Float shininess\n) \nMagnum::Color4 & robot_dart::gui::magnum::gs::Material::ambient_color () \nMagnum::Color4 robot_dart::gui::magnum::gs::Material::ambient_color () const\nMagnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::ambient_texture () \nMagnum::Color4 & robot_dart::gui::magnum::gs::Material::diffuse_color () \nMagnum::Color4 robot_dart::gui::magnum::gs::Material::diffuse_color () const\nMagnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::diffuse_texture () \nbool robot_dart::gui::magnum::gs::Material::has_ambient_texture () const\nbool robot_dart::gui::magnum::gs::Material::has_diffuse_texture () const\nbool robot_dart::gui::magnum::gs::Material::has_specular_texture () const\nMaterial & robot_dart::gui::magnum::gs::Material::set_ambient_color (\n const Magnum::Color4 & ambient\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_ambient_texture (\n Magnum::GL::Texture2D * ambient_texture\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_diffuse_color (\n const Magnum::Color4 & diffuse\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_diffuse_texture (\n Magnum::GL::Texture2D * diffuse_texture\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_shininess (\n Magnum::Float shininess\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_specular_color (\n const Magnum::Color4 & specular\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_specular_texture (\n Magnum::GL::Texture2D * specular_texture\n) \nMagnum::Float & robot_dart::gui::magnum::gs::Material::shininess () \nMagnum::Float robot_dart::gui::magnum::gs::Material::shininess () const\nMagnum::Color4 & robot_dart::gui::magnum::gs::Material::specular_color () \nMagnum::Color4 robot_dart::gui::magnum::gs::Material::specular_color () const\nMagnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::specular_texture () \nMagnum::Color4 robot_dart::gui::magnum::gs::Material::_ambient;\nMagnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_ambient_texture;\nMagnum::Color4 robot_dart::gui::magnum::gs::Material::_diffuse;\nMagnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_diffuse_texture;\nMagnum::Float robot_dart::gui::magnum::gs::Material::_shininess;\nMagnum::Color4 robot_dart::gui::magnum::gs::Material::_specular;\nMagnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_specular_texture;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/material.hpp
ClassList > robot_dart > gui > magnum > gs > PhongMultiLight
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Normal Normal typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-functions","title":"Public Functions","text":"Type Name PhongMultiLight (Flags flags={}, Magnum::Int max_lights=10) PhongMultiLight (Magnum::NoCreateT) noexcept PhongMultiLight & bind_cube_map_color_texture (Magnum::GL::CubeMapTextureArray & texture) PhongMultiLight & bind_cube_map_texture (Magnum::GL::CubeMapTextureArray & texture) PhongMultiLight & bind_shadow_color_texture (Magnum::GL::Texture2DArray & texture) PhongMultiLight & bind_shadow_texture (Magnum::GL::Texture2DArray & texture) Flags flags () const Magnum::Int max_lights () const PhongMultiLight & set_camera_matrix (const Magnum::Matrix4 & matrix) PhongMultiLight & set_far_plane (Magnum::Float far_plane) PhongMultiLight & set_is_shadowed (bool shadows) PhongMultiLight & set_light (Magnum::Int i, const Light & light) PhongMultiLight & set_material (Material & material) PhongMultiLight & set_normal_matrix (const Magnum::Matrix3x3 & matrix) PhongMultiLight & set_projection_matrix (const Magnum::Matrix4 & matrix) PhongMultiLight & set_specular_strength (Magnum::Float specular_strength) PhongMultiLight & set_transformation_matrix (const Magnum::Matrix4 & matrix) PhongMultiLight & set_transparent_shadows (bool shadows)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::PhongMultiLight::Flag {\n AmbientTexture = 1 << 0,\n DiffuseTexture = 1 << 1,\n SpecularTexture = 1 << 2\n};\nusing robot_dart::gui::magnum::gs::PhongMultiLight::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::PhongMultiLight::Normal = Magnum::Shaders::Generic3D::Normal;\nusing robot_dart::gui::magnum::gs::PhongMultiLight::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::PhongMultiLight::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::PhongMultiLight::PhongMultiLight (\n Flags flags={},\n Magnum::Int max_lights=10\n) \nexplicit robot_dart::gui::magnum::gs::PhongMultiLight::PhongMultiLight (\n Magnum::NoCreateT\n) noexcept\nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::bind_cube_map_color_texture (\n Magnum::GL::CubeMapTextureArray & texture\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::bind_cube_map_texture (\n Magnum::GL::CubeMapTextureArray & texture\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::bind_shadow_color_texture (\n Magnum::GL::Texture2DArray & texture\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::bind_shadow_texture (\n Magnum::GL::Texture2DArray & texture\n) \nFlags robot_dart::gui::magnum::gs::PhongMultiLight::flags () const\nMagnum::Int robot_dart::gui::magnum::gs::PhongMultiLight::max_lights () const\nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_camera_matrix (\n const Magnum::Matrix4 & matrix\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_far_plane (\n Magnum::Float far_plane\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_is_shadowed (\n bool shadows\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_light (\n Magnum::Int i,\n const Light & light\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_material (\n Material & material\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_normal_matrix (\n const Magnum::Matrix3x3 & matrix\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_projection_matrix (\n const Magnum::Matrix4 & matrix\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_specular_strength (\n Magnum::Float specular_strength\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_transparent_shadows (\n bool shadows\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/phong_multi_light.hpp
ClassList > robot_dart > gui > magnum > gs > ShadowMap
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-functions","title":"Public Functions","text":"Type Name ShadowMap (Flags flags={}) ShadowMap (Magnum::NoCreateT) noexcept Flags flags () const ShadowMap & set_material (Material & material) ShadowMap & set_projection_matrix (const Magnum::Matrix4 & matrix) ShadowMap & set_transformation_matrix (const Magnum::Matrix4 & matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::ShadowMap::Flag {\n DiffuseTexture = 1 << 0\n};\nusing robot_dart::gui::magnum::gs::ShadowMap::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::ShadowMap::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::ShadowMap::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::ShadowMap::ShadowMap (\n Flags flags={}\n) \nexplicit robot_dart::gui::magnum::gs::ShadowMap::ShadowMap (\n Magnum::NoCreateT\n) noexcept\nFlags robot_dart::gui::magnum::gs::ShadowMap::flags () const\nShadowMap & robot_dart::gui::magnum::gs::ShadowMap::set_material (\n Material & material\n) \nShadowMap & robot_dart::gui::magnum::gs::ShadowMap::set_projection_matrix (\n const Magnum::Matrix4 & matrix\n) \nShadowMap & robot_dart::gui::magnum::gs::ShadowMap::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map.hpp
ClassList > robot_dart > gui > magnum > gs > ShadowMapColor
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-functions","title":"Public Functions","text":"Type Name ShadowMapColor (Flags flags={}) ShadowMapColor (Magnum::NoCreateT) noexcept Flags flags () const ShadowMapColor & set_material (Material & material) ShadowMapColor & set_projection_matrix (const Magnum::Matrix4 & matrix) ShadowMapColor & set_transformation_matrix (const Magnum::Matrix4 & matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::ShadowMapColor::Flag {\n DiffuseTexture = 1 << 0\n};\nusing robot_dart::gui::magnum::gs::ShadowMapColor::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::ShadowMapColor::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::ShadowMapColor::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::ShadowMapColor::ShadowMapColor (\n Flags flags={}\n) \nexplicit robot_dart::gui::magnum::gs::ShadowMapColor::ShadowMapColor (\n Magnum::NoCreateT\n) noexcept\nFlags robot_dart::gui::magnum::gs::ShadowMapColor::flags () const\nShadowMapColor & robot_dart::gui::magnum::gs::ShadowMapColor::set_material (\n Material & material\n) \nShadowMapColor & robot_dart::gui::magnum::gs::ShadowMapColor::set_projection_matrix (\n const Magnum::Matrix4 & matrix\n) \nShadowMapColor & robot_dart::gui::magnum::gs::ShadowMapColor::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map_color.hpp
Namespace List > robot_dart > gui > magnum > sensor
"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/#classes","title":"Classes","text":"Type Name class CameraThe documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.cpp
ClassList > robot_dart > gui > magnum > sensor > Camera
Inherits the following classes: robot_dart::sensor::Sensor
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions","title":"Public Functions","text":"Type Name Camera (BaseApplication * app, size_t width, size_t height, size_t freq=30, bool draw_debug=false) virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) override virtual void attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &) override virtual void calculate (double) override gs::Camera & camera () const gs::Camera & camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const DepthImage depth_array () GrayscaleImage depth_image () void draw_debug (bool draw=true) bool drawing_debug () const Image image () virtual void init () override void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) Magnum::Image2D * magnum_depth_image () Magnum::Image2D * magnum_image () GrayscaleImage raw_depth_image () void record_video (const std::string & video_fname) virtual std::string type () override const ~Camera ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes","title":"Protected Attributes","text":"Type Name std::unique_ptr< gs::Camera > _camera Magnum::GL::Renderbuffer _color Magnum::GL::Renderbuffer _depth bool _draw_debug Magnum::PixelFormat _format Magnum::GL::Framebuffer _framebuffer = {Magnum::NoCreate} size_t _height BaseApplication * _magnum_app size_t _width"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera","title":"function Camera","text":"robot_dart::gui::magnum::sensor::Camera::Camera (\n BaseApplication * app,\n size_t width,\n size_t height,\n size_t freq=30,\n bool draw_debug=false\n) \nvirtual void robot_dart::gui::magnum::sensor::Camera::attach_to_body (\n dart::dynamics::BodyNode * body,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) override\nImplements robot_dart::sensor::Sensor::attach_to_body
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-attach_to_joint","title":"function attach_to_joint","text":"inline virtual void robot_dart::gui::magnum::sensor::Camera::attach_to_joint (\n dart::dynamics::Joint *,\n const Eigen::Isometry3d &\n) override\nImplements robot_dart::sensor::Sensor::attach_to_joint
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-calculate","title":"function calculate","text":"virtual void robot_dart::gui::magnum::sensor::Camera::calculate (\n double\n) override\nImplements robot_dart::sensor::Sensor::calculate
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera-12","title":"function camera [\u00bd]","text":"inline gs::Camera & robot_dart::gui::magnum::sensor::Camera::camera () \ninline const gs::Camera & robot_dart::gui::magnum::sensor::Camera::camera () const\nEigen::Matrix4d robot_dart::gui::magnum::sensor::Camera::camera_extrinsic_matrix () const\nEigen::Matrix3d robot_dart::gui::magnum::sensor::Camera::camera_intrinsic_matrix () const\nDepthImage robot_dart::gui::magnum::sensor::Camera::depth_array () \nGrayscaleImage robot_dart::gui::magnum::sensor::Camera::depth_image () \ninline void robot_dart::gui::magnum::sensor::Camera::draw_debug (\n bool draw=true\n) \ninline bool robot_dart::gui::magnum::sensor::Camera::drawing_debug () const\ninline Image robot_dart::gui::magnum::sensor::Camera::image () \nvirtual void robot_dart::gui::magnum::sensor::Camera::init () override\nImplements robot_dart::sensor::Sensor::init
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-look_at","title":"function look_at","text":"void robot_dart::gui::magnum::sensor::Camera::look_at (\n const Eigen::Vector3d & camera_pos,\n const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0),\n const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)\n) \ninline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_depth_image () \ninline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_image () \nGrayscaleImage robot_dart::gui::magnum::sensor::Camera::raw_depth_image () \ninline void robot_dart::gui::magnum::sensor::Camera::record_video (\n const std::string & video_fname\n) \nvirtual std::string robot_dart::gui::magnum::sensor::Camera::type () override const\nImplements robot_dart::sensor::Sensor::type
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera_1","title":"function ~Camera","text":"inline robot_dart::gui::magnum::sensor::Camera::~Camera () \nstd::unique_ptr<gs::Camera> robot_dart::gui::magnum::sensor::Camera::_camera;\nMagnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_color;\nMagnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_depth;\nbool robot_dart::gui::magnum::sensor::Camera::_draw_debug;\nMagnum::PixelFormat robot_dart::gui::magnum::sensor::Camera::_format;\nMagnum::GL::Framebuffer robot_dart::gui::magnum::sensor::Camera::_framebuffer;\nsize_t robot_dart::gui::magnum::sensor::Camera::_height;\nBaseApplication* robot_dart::gui::magnum::sensor::Camera::_magnum_app;\nsize_t robot_dart::gui::magnum::sensor::Camera::_width;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.hpp
Namespace List > robot_dart > robots
"},{"location":"api/namespacerobot__dart_1_1robots/#classes","title":"Classes","text":"Type Name class A1 class Arm class Franka class Hexapod class ICub class Iiwa class Pendulum class Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __ class TalosFastCollision class TalosLight class Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __ class Ur3e class Ur3eHand class Vx300The documentation for this class was generated from the following file robot_dart/robots/a1.cpp
ClassList > robot_dart > robots > A1
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions","title":"Public Functions","text":"Type Name A1 (size_t frequency=1000, const std::string & urdf=\"unitree_a1/a1.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('a1\\_description', 'unitree\\_a1/a1\\_description')) const sensor::IMU & imu () const virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::IMU > _imu"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1A1/#function-a1","title":"function A1","text":"robot_dart::robots::A1::A1 (\n size_t frequency=1000,\n const std::string & urdf=\"unitree_a1/a1.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('a1_description', 'unitree_a1/a1_description')\n) \ninline const sensor::IMU & robot_dart::robots::A1::imu () const\nvirtual void robot_dart::robots::A1::reset () override\nImplements robot_dart::Robot::reset
"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1A1/#variable-_imu","title":"variable _imu","text":"std::shared_ptr<sensor::IMU> robot_dart::robots::A1::_imu;\nThe documentation for this class was generated from the following file robot_dart/robots/a1.hpp
ClassList > robot_dart > robots > Arm
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions","title":"Public Functions","text":"Type Name Arm (const std::string & urdf=\"arm.urdf\")"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#function-arm","title":"function Arm","text":"inline robot_dart::robots::Arm::Arm (\n const std::string & urdf=\"arm.urdf\"\n) \nThe documentation for this class was generated from the following file robot_dart/robots/arm.hpp
ClassList > robot_dart > robots > Franka
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions","title":"Public Functions","text":"Type Name Franka (size_t frequency=1000, const std::string & urdf=\"franka/franka.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('franka\\_description', 'franka/franka\\_description')) const sensor::ForceTorque & ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-franka","title":"function Franka","text":"robot_dart::robots::Franka::Franka (\n size_t frequency=1000,\n const std::string & urdf=\"franka/franka.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('franka_description', 'franka/franka_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::Franka::ft_wrist () const\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Franka::_ft_wrist;\nvirtual void robot_dart::robots::Franka::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Franka::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/franka.hpp
ClassList > robot_dart > robots > Hexapod
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions","title":"Public Functions","text":"Type Name Hexapod (const std::string & urdf=\"pexod.urdf\") virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#function-hexapod","title":"function Hexapod","text":"inline robot_dart::robots::Hexapod::Hexapod (\n const std::string & urdf=\"pexod.urdf\"\n) \ninline virtual void robot_dart::robots::Hexapod::reset () override\nImplements robot_dart::Robot::reset
The documentation for this class was generated from the following file robot_dart/robots/hexapod.hpp
ClassList > robot_dart > robots > ICub
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions","title":"Public Functions","text":"Type Name ICub (size_t frequency=1000, const std::string & urdf=\"icub/icub.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('icub\\_description', 'icub/icub\\_description')) const sensor::ForceTorque & ft_foot_left () const const sensor::ForceTorque & ft_foot_right () const const sensor::IMU & imu () const virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_foot_left std::shared_ptr< sensor::ForceTorque > _ft_foot_right std::shared_ptr< sensor::IMU > _imu"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-icub","title":"function ICub","text":"robot_dart::robots::ICub::ICub (\n size_t frequency=1000,\n const std::string & urdf=\"icub/icub.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('icub_description', 'icub/icub_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::ICub::ft_foot_left () const\ninline const sensor::ForceTorque & robot_dart::robots::ICub::ft_foot_right () const\ninline const sensor::IMU & robot_dart::robots::ICub::imu () const\nvirtual void robot_dart::robots::ICub::reset () override\nImplements robot_dart::Robot::reset
"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#variable-_ft_foot_left","title":"variable _ft_foot_left","text":"std::shared_ptr<sensor::ForceTorque> robot_dart::robots::ICub::_ft_foot_left;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::ICub::_ft_foot_right;\nstd::shared_ptr<sensor::IMU> robot_dart::robots::ICub::_imu;\nvirtual void robot_dart::robots::ICub::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::ICub::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/icub.hpp
ClassList > robot_dart > robots > Iiwa
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions","title":"Public Functions","text":"Type Name Iiwa (size_t frequency=1000, const std::string & urdf=\"iiwa/iiwa.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('iiwa\\_description', 'iiwa/iiwa\\_description')) const sensor::ForceTorque & ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-iiwa","title":"function Iiwa","text":"robot_dart::robots::Iiwa::Iiwa (\n size_t frequency=1000,\n const std::string & urdf=\"iiwa/iiwa.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('iiwa_description', 'iiwa/iiwa_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::Iiwa::ft_wrist () const\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Iiwa::_ft_wrist;\nvirtual void robot_dart::robots::Iiwa::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Iiwa::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/iiwa.hpp
ClassList > robot_dart > robots > Pendulum
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions","title":"Public Functions","text":"Type Name Pendulum (const std::string & urdf=\"pendulum.urdf\")"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#function-pendulum","title":"function Pendulum","text":"inline robot_dart::robots::Pendulum::Pendulum (\n const std::string & urdf=\"pendulum.urdf\"\n) \nThe documentation for this class was generated from the following file robot_dart/robots/pendulum.hpp
ClassList > robot_dart > robots > Talos
datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __
#include <robot_dart/robots/talos.hpp>Inherits the following classes: robot_dart::Robot
Inherited by the following classes: robot_dart::robots::TalosFastCollision, robot_dart::robots::TalosLight
"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-types","title":"Public Types","text":"Type Name typedef std::unordered_map< std::string, std::shared_ptr< sensor::Torque > > torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions","title":"Public Functions","text":"Type Name Talos (size_t frequency=1000, const std::string & urdf=\"talos/talos.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description')) const sensor::ForceTorque & ft_foot_left () const const sensor::ForceTorque & ft_foot_right () const const sensor::ForceTorque & ft_wrist_left () const const sensor::ForceTorque & ft_wrist_right () const const sensor::IMU & imu () const virtual void reset () override const torque_map_t & torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes","title":"Protected Attributes","text":"Type Name size_t _frequency std::shared_ptr< sensor::ForceTorque > _ft_foot_left std::shared_ptr< sensor::ForceTorque > _ft_foot_right std::shared_ptr< sensor::ForceTorque > _ft_wrist_left std::shared_ptr< sensor::ForceTorque > _ft_wrist_right std::shared_ptr< sensor::IMU > _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#typedef-torque_map_t","title":"typedef torque_map_t","text":"using robot_dart::robots::Talos::torque_map_t = std::unordered_map<std::string, std::shared_ptr<sensor::Torque>>;\nrobot_dart::robots::Talos::Talos (\n size_t frequency=1000,\n const std::string & urdf=\"talos/talos.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('talos_description', 'talos/talos_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::Talos::ft_foot_left () const\ninline const sensor::ForceTorque & robot_dart::robots::Talos::ft_foot_right () const\ninline const sensor::ForceTorque & robot_dart::robots::Talos::ft_wrist_left () const\ninline const sensor::ForceTorque & robot_dart::robots::Talos::ft_wrist_right () const\ninline const sensor::IMU & robot_dart::robots::Talos::imu () const\nvirtual void robot_dart::robots::Talos::reset () override\nImplements robot_dart::Robot::reset
"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-torques","title":"function torques","text":"inline const torque_map_t & robot_dart::robots::Talos::torques () const\nsize_t robot_dart::robots::Talos::_frequency;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Talos::_ft_foot_left;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Talos::_ft_foot_right;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Talos::_ft_wrist_left;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Talos::_ft_wrist_right;\nstd::shared_ptr<sensor::IMU> robot_dart::robots::Talos::_imu;\ntorque_map_t robot_dart::robots::Talos::_torques;\nvirtual void robot_dart::robots::Talos::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Talos::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/talos.hpp
ClassList > robot_dart > robots > TalosFastCollision
Inherits the following classes: robot_dart::robots::Talos
"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-types-inherited-from-robot_dartrobotstalos","title":"Public Types inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name typedef std::unordered_map< std::string, std::shared_ptr< sensor::Torque > > torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions","title":"Public Functions","text":"Type Name TalosFastCollision (size_t frequency=1000, const std::string & urdf=\"talos/talos_fast_collision.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-inherited-from-robot_dartrobotstalos","title":"Public Functions inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name Talos (size_t frequency=1000, const std::string & urdf=\"talos/talos.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description')) const sensor::ForceTorque & ft_foot_left () const const sensor::ForceTorque & ft_foot_right () const const sensor::ForceTorque & ft_wrist_left () const const sensor::ForceTorque & ft_wrist_right () const const sensor::IMU & imu () const virtual void reset () override const torque_map_t & torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions","title":"Public Static Functions","text":"Type Name std::vector< std::tuple< std::string, uint32_t, uint32_t > > collision_vec ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-attributes-inherited-from-robot_dartrobotstalos","title":"Protected Attributes inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name size_t _frequency std::shared_ptr< sensor::ForceTorque > _ft_foot_left std::shared_ptr< sensor::ForceTorque > _ft_foot_right std::shared_ptr< sensor::ForceTorque > _ft_wrist_left std::shared_ptr< sensor::ForceTorque > _ft_wrist_right std::shared_ptr< sensor::IMU > _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-inherited-from-robot_dartrobotstalos","title":"Protected Functions inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#function-talosfastcollision","title":"function TalosFastCollision","text":"inline robot_dart::robots::TalosFastCollision::TalosFastCollision (\n size_t frequency=1000,\n const std::string & urdf=\"talos/talos_fast_collision.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('talos_description', 'talos/talos_description')\n) \nstatic std::vector< std::tuple< std::string, uint32_t, uint32_t > > robot_dart::robots::TalosFastCollision::collision_vec () \nvirtual void robot_dart::robots::TalosFastCollision::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::robots::Talos::_post_addition
The documentation for this class was generated from the following file robot_dart/robots/talos.hpp
ClassList > robot_dart > robots > TalosLight
Inherits the following classes: robot_dart::robots::Talos
"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-types-inherited-from-robot_dartrobotstalos","title":"Public Types inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name typedef std::unordered_map< std::string, std::shared_ptr< sensor::Torque > > torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions","title":"Public Functions","text":"Type Name TalosLight (size_t frequency=1000, const std::string & urdf=\"talos/talos_fast.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-inherited-from-robot_dartrobotstalos","title":"Public Functions inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name Talos (size_t frequency=1000, const std::string & urdf=\"talos/talos.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description')) const sensor::ForceTorque & ft_foot_left () const const sensor::ForceTorque & ft_foot_right () const const sensor::ForceTorque & ft_wrist_left () const const sensor::ForceTorque & ft_wrist_right () const const sensor::IMU & imu () const virtual void reset () override const torque_map_t & torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-attributes-inherited-from-robot_dartrobotstalos","title":"Protected Attributes inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name size_t _frequency std::shared_ptr< sensor::ForceTorque > _ft_foot_left std::shared_ptr< sensor::ForceTorque > _ft_foot_right std::shared_ptr< sensor::ForceTorque > _ft_wrist_left std::shared_ptr< sensor::ForceTorque > _ft_wrist_right std::shared_ptr< sensor::IMU > _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-functions-inherited-from-robot_dartrobotstalos","title":"Protected Functions inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#function-taloslight","title":"function TalosLight","text":"inline robot_dart::robots::TalosLight::TalosLight (\n size_t frequency=1000,\n const std::string & urdf=\"talos/talos_fast.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('talos_description', 'talos/talos_description')\n) \nThe documentation for this class was generated from the following file robot_dart/robots/talos.hpp
ClassList > robot_dart > robots > Tiago
datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __
#include <robot_dart/robots/tiago.hpp>Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions","title":"Public Functions","text":"Type Name Tiago (size_t frequency=1000, const std::string & urdf=\"tiago/tiago_steel.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('tiago\\_description', 'tiago/tiago\\_description')) std::vector< std::string > caster_joints () const const sensor::ForceTorque & ft_wrist () const virtual void reset () override void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false, bool override_caster=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false, bool override_caster=false)"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-tiago","title":"function Tiago","text":"robot_dart::robots::Tiago::Tiago (\n size_t frequency=1000,\n const std::string & urdf=\"tiago/tiago_steel.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('tiago_description', 'tiago/tiago_description')\n) \ninline std::vector< std::string > robot_dart::robots::Tiago::caster_joints () const\ninline const sensor::ForceTorque & robot_dart::robots::Tiago::ft_wrist () const\nvirtual void robot_dart::robots::Tiago::reset () override\nImplements robot_dart::Robot::reset
"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-set_actuator_type","title":"function set_actuator_type","text":"void robot_dart::robots::Tiago::set_actuator_type (\n const std::string & type,\n const std::string & joint_name,\n bool override_mimic=false,\n bool override_base=false,\n bool override_caster=false\n) \nvoid robot_dart::robots::Tiago::set_actuator_types (\n const std::string & type,\n const std::vector< std::string > & joint_names={},\n bool override_mimic=false,\n bool override_base=false,\n bool override_caster=false\n) \nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Tiago::_ft_wrist;\nvirtual void robot_dart::robots::Tiago::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Tiago::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/tiago.hpp
ClassList > robot_dart > robots > Ur3e
Inherits the following classes: robot_dart::Robot
Inherited by the following classes: robot_dart::robots::Ur3eHand
"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions","title":"Public Functions","text":"Type Name Ur3e (size_t frequency=1000, const std::string & urdf=\"ur3e/ur3e.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('ur3e\\_description', 'ur3e/ur3e\\_description')) const sensor::ForceTorque & ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-ur3e","title":"function Ur3e","text":"robot_dart::robots::Ur3e::Ur3e (\n size_t frequency=1000,\n const std::string & urdf=\"ur3e/ur3e.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('ur3e_description', 'ur3e/ur3e_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::Ur3e::ft_wrist () const\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Ur3e::_ft_wrist;\nvirtual void robot_dart::robots::Ur3e::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Ur3e::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/ur3e.hpp
ClassList > robot_dart > robots > Ur3eHand
Inherits the following classes: robot_dart::robots::Ur3e
"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions","title":"Public Functions","text":"Type Name Ur3eHand (size_t frequency=1000, const std::string & urdf=\"ur3e/ur3e_with_schunk_hand.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('ur3e\\_description', 'ur3e/ur3e\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-inherited-from-robot_dartrobotsur3e","title":"Public Functions inherited from robot_dart::robots::Ur3e","text":"See robot_dart::robots::Ur3e
Type Name Ur3e (size_t frequency=1000, const std::string & urdf=\"ur3e/ur3e.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('ur3e\\_description', 'ur3e/ur3e\\_description')) const sensor::ForceTorque & ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-attributes-inherited-from-robot_dartrobotsur3e","title":"Protected Attributes inherited from robot_dart::robots::Ur3e","text":"See robot_dart::robots::Ur3e
Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-functions-inherited-from-robot_dartrobotsur3e","title":"Protected Functions inherited from robot_dart::robots::Ur3e","text":"See robot_dart::robots::Ur3e
Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#function-ur3ehand","title":"function Ur3eHand","text":"inline robot_dart::robots::Ur3eHand::Ur3eHand (\n size_t frequency=1000,\n const std::string & urdf=\"ur3e/ur3e_with_schunk_hand.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('ur3e_description', 'ur3e/ur3e_description')\n) \nThe documentation for this class was generated from the following file robot_dart/robots/ur3e.hpp
ClassList > robot_dart > robots > Vx300
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions","title":"Public Functions","text":"Type Name Vx300 (const std::string & urdf=\"vx300/vx300.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('interbotix\\_xsarm\\_descriptions', 'vx300'))"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#function-vx300","title":"function Vx300","text":"inline robot_dart::robots::Vx300::Vx300 (\n const std::string & urdf=\"vx300/vx300.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('interbotix_xsarm_descriptions', 'vx300')\n) \nThe documentation for this class was generated from the following file robot_dart/robots/vx300.hpp
Namespace List > robot_dart > sensor
"},{"location":"api/namespacerobot__dart_1_1sensor/#classes","title":"Classes","text":"Type Name class ForceTorque class IMU struct IMUConfig class Sensor class TorqueThe documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.hpp
ClassList > robot_dart > sensor > ForceTorque
Inherits the following classes: robot_dart::sensor::Sensor
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions","title":"Public Functions","text":"Type Name ForceTorque (dart::dynamics::Joint * joint, size_t frequency=1000, const std::string & direction=\"child_to_parent\") ForceTorque (const std::shared_ptr< Robot > & robot, const std::string & joint_name, size_t frequency=1000, const std::string & direction=\"child_to_parent\") virtual void attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &) override virtual void calculate (double) override Eigen::Vector3d force () const virtual void init () override Eigen::Vector3d torque () const virtual std::string type () override const const Eigen::Vector6d & wrench () const"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes","title":"Protected Attributes","text":"Type Name std::string _direction Eigen::Vector6d _wrench"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-forcetorque-12","title":"function ForceTorque [\u00bd]","text":"robot_dart::sensor::ForceTorque::ForceTorque (\n dart::dynamics::Joint * joint,\n size_t frequency=1000,\n const std::string & direction=\"child_to_parent\"\n) \ninline robot_dart::sensor::ForceTorque::ForceTorque (\n const std::shared_ptr< Robot > & robot,\n const std::string & joint_name,\n size_t frequency=1000,\n const std::string & direction=\"child_to_parent\"\n) \ninline virtual void robot_dart::sensor::ForceTorque::attach_to_body (\n dart::dynamics::BodyNode *,\n const Eigen::Isometry3d &\n) override\nImplements robot_dart::sensor::Sensor::attach_to_body
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-calculate","title":"function calculate","text":"virtual void robot_dart::sensor::ForceTorque::calculate (\n double\n) override\nImplements robot_dart::sensor::Sensor::calculate
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-force","title":"function force","text":"Eigen::Vector3d robot_dart::sensor::ForceTorque::force () const\nvirtual void robot_dart::sensor::ForceTorque::init () override\nImplements robot_dart::sensor::Sensor::init
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-torque","title":"function torque","text":"Eigen::Vector3d robot_dart::sensor::ForceTorque::torque () const\nvirtual std::string robot_dart::sensor::ForceTorque::type () override const\nImplements robot_dart::sensor::Sensor::type
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-wrench","title":"function wrench","text":"const Eigen::Vector6d & robot_dart::sensor::ForceTorque::wrench () const\nstd::string robot_dart::sensor::ForceTorque::_direction;\nEigen::Vector6d robot_dart::sensor::ForceTorque::_wrench;\nThe documentation for this class was generated from the following file robot_dart/sensor/force_torque.hpp
ClassList > robot_dart > sensor > IMU
Inherits the following classes: robot_dart::sensor::Sensor
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions","title":"Public Functions","text":"Type Name IMU (const IMUConfig & config) const Eigen::AngleAxisd & angular_position () const Eigen::Vector3d angular_position_vec () const const Eigen::Vector3d & angular_velocity () const virtual void attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &) override virtual void calculate (double) override virtual void init () override const Eigen::Vector3d & linear_acceleration () const virtual std::string type () override const"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::AngleAxisd _angular_pos Eigen::Vector3d _angular_vel IMUConfig _config Eigen::Vector3d _linear_accel"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-imu","title":"function IMU","text":"robot_dart::sensor::IMU::IMU (\n const IMUConfig & config\n) \nconst Eigen::AngleAxisd & robot_dart::sensor::IMU::angular_position () const\nEigen::Vector3d robot_dart::sensor::IMU::angular_position_vec () const\nconst Eigen::Vector3d & robot_dart::sensor::IMU::angular_velocity () const\ninline virtual void robot_dart::sensor::IMU::attach_to_joint (\n dart::dynamics::Joint *,\n const Eigen::Isometry3d &\n) override\nImplements robot_dart::sensor::Sensor::attach_to_joint
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-calculate","title":"function calculate","text":"virtual void robot_dart::sensor::IMU::calculate (\n double\n) override\nImplements robot_dart::sensor::Sensor::calculate
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-init","title":"function init","text":"virtual void robot_dart::sensor::IMU::init () override\nImplements robot_dart::sensor::Sensor::init
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-linear_acceleration","title":"function linear_acceleration","text":"const Eigen::Vector3d & robot_dart::sensor::IMU::linear_acceleration () const\nvirtual std::string robot_dart::sensor::IMU::type () override const\nImplements robot_dart::sensor::Sensor::type
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_angular_pos","title":"variable _angular_pos","text":"Eigen::AngleAxisd robot_dart::sensor::IMU::_angular_pos;\nEigen::Vector3d robot_dart::sensor::IMU::_angular_vel;\nIMUConfig robot_dart::sensor::IMU::_config;\nEigen::Vector3d robot_dart::sensor::IMU::_linear_accel;\nThe documentation for this class was generated from the following file robot_dart/sensor/imu.hpp
ClassList > robot_dart > sensor > IMUConfig
"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-attributes","title":"Public Attributes","text":"Type Name Eigen::Vector3d accel_bias = = Eigen::Vector3d::Zero() dart::dynamics::BodyNode * body = = nullptr size_t frequency = = 200 Eigen::Vector3d gyro_bias = = Eigen::Vector3d::Zero()"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-functions","title":"Public Functions","text":"Type Name IMUConfig (dart::dynamics::BodyNode * b, size_t f) IMUConfig (const Eigen::Vector3d & gyro_bias, const Eigen::Vector3d & accel_bias, dart::dynamics::BodyNode * b, size_t f) IMUConfig ()"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-accel_bias","title":"variable accel_bias","text":"Eigen::Vector3d robot_dart::sensor::IMUConfig::accel_bias;\ndart::dynamics::BodyNode* robot_dart::sensor::IMUConfig::body;\nsize_t robot_dart::sensor::IMUConfig::frequency;\nEigen::Vector3d robot_dart::sensor::IMUConfig::gyro_bias;\ninline robot_dart::sensor::IMUConfig::IMUConfig (\n dart::dynamics::BodyNode * b,\n size_t f\n) \ninline robot_dart::sensor::IMUConfig::IMUConfig (\n const Eigen::Vector3d & gyro_bias,\n const Eigen::Vector3d & accel_bias,\n dart::dynamics::BodyNode * b,\n size_t f\n) \ninline robot_dart::sensor::IMUConfig::IMUConfig () \nThe documentation for this class was generated from the following file robot_dart/sensor/imu.hpp
ClassList > robot_dart > sensor > Sensor
Inherited by the following classes: robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Torque
"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#public-functions","title":"Public Functions","text":"Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-sensor","title":"function Sensor","text":"robot_dart::sensor::Sensor::Sensor (\n size_t freq=40\n) \nvoid robot_dart::sensor::Sensor::activate (\n bool enable=true\n) \nbool robot_dart::sensor::Sensor::active () const\nvirtual void robot_dart::sensor::Sensor::attach_to_body (\n dart::dynamics::BodyNode * body,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) \ninline void robot_dart::sensor::Sensor::attach_to_body (\n const std::shared_ptr< Robot > & robot,\n const std::string & body_name,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) \nvirtual void robot_dart::sensor::Sensor::attach_to_joint (\n dart::dynamics::Joint * joint,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) \ninline void robot_dart::sensor::Sensor::attach_to_joint (\n const std::shared_ptr< Robot > & robot,\n const std::string & joint_name,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) \nconst std::string & robot_dart::sensor::Sensor::attached_to () const\nvirtual void robot_dart::sensor::Sensor::calculate (\n double\n) = 0\nvoid robot_dart::sensor::Sensor::detach () \nsize_t robot_dart::sensor::Sensor::frequency () const\nvirtual void robot_dart::sensor::Sensor::init () = 0\nconst Eigen::Isometry3d & robot_dart::sensor::Sensor::pose () const\nvoid robot_dart::sensor::Sensor::refresh (\n double t\n) \nvoid robot_dart::sensor::Sensor::set_frequency (\n size_t freq\n) \nvoid robot_dart::sensor::Sensor::set_pose (\n const Eigen::Isometry3d & tf\n) \nvoid robot_dart::sensor::Sensor::set_simu (\n RobotDARTSimu * simu\n) \nconst RobotDARTSimu * robot_dart::sensor::Sensor::simu () const\nvirtual std::string robot_dart::sensor::Sensor::type () const = 0\ninline virtual robot_dart::sensor::Sensor::~Sensor () \nbool robot_dart::sensor::Sensor::_active;\nEigen::Isometry3d robot_dart::sensor::Sensor::_attached_tf;\nbool robot_dart::sensor::Sensor::_attached_to_body;\nbool robot_dart::sensor::Sensor::_attached_to_joint;\nbool robot_dart::sensor::Sensor::_attaching_to_body;\nbool robot_dart::sensor::Sensor::_attaching_to_joint;\ndart::dynamics::BodyNode* robot_dart::sensor::Sensor::_body_attached;\nsize_t robot_dart::sensor::Sensor::_frequency;\ndart::dynamics::Joint* robot_dart::sensor::Sensor::_joint_attached;\nRobotDARTSimu* robot_dart::sensor::Sensor::_simu;\nEigen::Isometry3d robot_dart::sensor::Sensor::_world_pose;\nThe documentation for this class was generated from the following file robot_dart/sensor/sensor.hpp
ClassList > robot_dart > sensor > Torque
Inherits the following classes: robot_dart::sensor::Sensor
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions","title":"Public Functions","text":"Type Name Torque (dart::dynamics::Joint * joint, size_t frequency=1000) Torque (const std::shared_ptr< Robot > & robot, const std::string & joint_name, size_t frequency=1000) virtual void attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &) override virtual void calculate (double) override virtual void init () override const Eigen::VectorXd & torques () const virtual std::string type () override const"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::VectorXd _torques"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torque-12","title":"function Torque [\u00bd]","text":"robot_dart::sensor::Torque::Torque (\n dart::dynamics::Joint * joint,\n size_t frequency=1000\n) \ninline robot_dart::sensor::Torque::Torque (\n const std::shared_ptr< Robot > & robot,\n const std::string & joint_name,\n size_t frequency=1000\n) \ninline virtual void robot_dart::sensor::Torque::attach_to_body (\n dart::dynamics::BodyNode *,\n const Eigen::Isometry3d &\n) override\nImplements robot_dart::sensor::Sensor::attach_to_body
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-calculate","title":"function calculate","text":"virtual void robot_dart::sensor::Torque::calculate (\n double\n) override\nImplements robot_dart::sensor::Sensor::calculate
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-init","title":"function init","text":"virtual void robot_dart::sensor::Torque::init () override\nImplements robot_dart::sensor::Sensor::init
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torques","title":"function torques","text":"const Eigen::VectorXd & robot_dart::sensor::Torque::torques () const\nvirtual std::string robot_dart::sensor::Torque::type () override const\nImplements robot_dart::sensor::Sensor::type
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#variable-_torques","title":"variable _torques","text":"Eigen::VectorXd robot_dart::sensor::Torque::_torques;\nThe documentation for this class was generated from the following file robot_dart/sensor/torque.hpp
Namespace List > robot_dart > simu
"},{"location":"api/namespacerobot__dart_1_1simu/#classes","title":"Classes","text":"Type Name struct GUIData struct TextDataThe documentation for this class was generated from the following file robot_dart/gui_data.hpp
ClassList > robot_dart > simu > GUIData
"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#public-functions","title":"Public Functions","text":"Type Name std::shared_ptr< simu::TextData > add_text (const std::string & text, const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2<< 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28) bool cast_shadows (dart::dynamics::ShapeNode * shape) const std::vector< std::pair< dart::dynamics::BodyNode *, double > > drawing_axes () const const std::vector< std::shared_ptr< simu::TextData > > & drawing_texts () const bool ghost (dart::dynamics::ShapeNode * shape) const void remove_robot (const std::shared_ptr< Robot > & robot) void remove_text (const std::shared_ptr< simu::TextData > & data) void remove_text (size_t index) void update_robot (const std::shared_ptr< Robot > & robot)"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-add_text","title":"function add_text","text":"inline std::shared_ptr< simu::TextData > robot_dart::simu::GUIData::add_text (\n const std::string & text,\n const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(),\n Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),\n std::uint8_t alignment=2<< 2,\n bool draw_bg=false,\n Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),\n double font_size=28\n) \ninline bool robot_dart::simu::GUIData::cast_shadows (\n dart::dynamics::ShapeNode * shape\n) const\ninline std::vector< std::pair< dart::dynamics::BodyNode *, double > > robot_dart::simu::GUIData::drawing_axes () const\ninline const std::vector< std::shared_ptr< simu::TextData > > & robot_dart::simu::GUIData::drawing_texts () const\ninline bool robot_dart::simu::GUIData::ghost (\n dart::dynamics::ShapeNode * shape\n) const\ninline void robot_dart::simu::GUIData::remove_robot (\n const std::shared_ptr< Robot > & robot\n) \ninline void robot_dart::simu::GUIData::remove_text (\n const std::shared_ptr< simu::TextData > & data\n) \ninline void robot_dart::simu::GUIData::remove_text (\n size_t index\n) \ninline void robot_dart::simu::GUIData::update_robot (\n const std::shared_ptr< Robot > & robot\n) \nThe documentation for this class was generated from the following file robot_dart/gui_data.hpp
ClassList > robot_dart > simu > TextData
"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#public-attributes","title":"Public Attributes","text":"Type Name std::uint8_t alignment Eigen::Vector4d background_color Eigen::Vector4d color bool draw_background double font_size = = 28. std::string text Eigen::Affine2d transformation"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-alignment","title":"variable alignment","text":"std::uint8_t robot_dart::simu::TextData::alignment;\nEigen::Vector4d robot_dart::simu::TextData::background_color;\nEigen::Vector4d robot_dart::simu::TextData::color;\nbool robot_dart::simu::TextData::draw_background;\ndouble robot_dart::simu::TextData::font_size;\nstd::string robot_dart::simu::TextData::text;\nEigen::Affine2d robot_dart::simu::TextData::transformation;\nThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.hpp
Namespace List > gs
"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#public-types","title":"Public Types","text":"Type Name enum Magnum::Int gs"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#enum-gs","title":"enum gs","text":"enum gs::gs;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
ClassList > RobotData
"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#public-attributes","title":"Public Attributes","text":"Type Name bool casting_shadows bool is_ghost"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#variable-casting_shadows","title":"variable casting_shadows","text":"bool robot_dart::simu::GUIData::RobotData::casting_shadows;\nbool robot_dart::simu::GUIData::RobotData::is_ghost;\nThe documentation for this class was generated from the following file robot_dart/gui_data.hpp
Namespace List > std
The documentation for this class was generated from the following file [generated]
FileList > robot_dart
"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/#files","title":"Files","text":"Type Name file gui_data.hpp file robot.cpp file robot.hpp file robot_dart_simu.cpp file robot_dart_simu.hpp file robot_pool.cpp file robot_pool.hpp file scheduler.cpp file scheduler.hpp file utils.hpp file utils_headers_dart_collision.hpp file utils_headers_dart_dynamics.hpp file utils_headers_dart_io.hpp file utils_headers_external.hpp file utils_headers_external_gui.hpp"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/#directories","title":"Directories","text":"Type Name dir control dir gui dir robots dir sensorThe documentation for this class was generated from the following file robot_dart/
FileList > robot_dart > gui_data.hpp
Go to the source code of this file
#include \"robot_dart_simu.hpp\"#include \"utils_headers_dart_dynamics.hpp\"#include <unordered_map>#include <vector>The documentation for this class was generated from the following file robot_dart/gui_data.hpp
File List > robot_dart > gui_data.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_SIMU_GUI_DATA_HPP\n#define ROBOT_DART_SIMU_GUI_DATA_HPP\n\n#include \"robot_dart_simu.hpp\"\n#include \"utils_headers_dart_dynamics.hpp\"\n\n#include <unordered_map>\n#include <vector>\n\nnamespace robot_dart {\n namespace simu {\n struct GUIData {\n private:\n struct RobotData {\n bool casting_shadows;\n bool is_ghost;\n };\n\n std::unordered_map<dart::dynamics::ShapeNode*, RobotData> robot_data;\n std::unordered_map<Robot*, std::vector<std::pair<dart::dynamics::BodyNode*, double>>> robot_axes;\n std::vector<std::shared_ptr<simu::TextData>> text_drawings;\n\n public:\n std::shared_ptr<simu::TextData> add_text(const std::string& text, const Eigen::Affine2d& tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = 2 << 2, bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28)\n {\n text_drawings.emplace_back(new TextData{text, tf, color, alignment, draw_bg, bg_color, font_size});\n\n return text_drawings.back();\n }\n\n void remove_text(const std::shared_ptr<simu::TextData>& data)\n {\n for (size_t i = 0; i < text_drawings.size(); i++) {\n if (text_drawings[i] == data) {\n text_drawings.erase(text_drawings.begin() + i);\n return;\n }\n }\n }\n\n void remove_text(size_t index)\n {\n if (index >= text_drawings.size())\n return;\n text_drawings.erase(text_drawings.begin() + index);\n }\n\n void update_robot(const std::shared_ptr<Robot>& robot)\n {\n auto robot_ptr = &*robot;\n auto skel = robot->skeleton();\n bool cast = robot->cast_shadows();\n bool ghost = robot->ghost();\n\n for (size_t i = 0; i < skel->getNumBodyNodes(); ++i) {\n auto bd = skel->getBodyNode(i);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNodeWith<dart::dynamics::VisualAspect>([this, cast, ghost](dart::dynamics::ShapeNode* shapeNode) {\n robot_data[shapeNode] = {cast, ghost};\n });\n#else\n auto& shapes = bd->getShapeNodesWith<dart::dynamics::VisualAspect>();\n for (size_t j = 0; j < shapes.size(); j++) {\n robot_data[shapes[j]] = {cast, ghost};\n }\n#endif\n }\n\n auto& axes = robot->drawing_axes();\n if (axes.size() > 0)\n robot_axes[robot_ptr] = axes;\n }\n\n void remove_robot(const std::shared_ptr<Robot>& robot)\n {\n auto robot_ptr = &*robot;\n auto skel = robot->skeleton();\n for (size_t i = 0; i < skel->getNumShapeNodes(); ++i) {\n auto shape = skel->getShapeNode(i);\n auto shape_iter = robot_data.find(shape);\n if (shape_iter != robot_data.end())\n robot_data.erase(shape_iter);\n }\n\n auto iter = robot_axes.find(robot_ptr);\n if (iter != robot_axes.end())\n robot_axes.erase(iter);\n }\n\n bool cast_shadows(dart::dynamics::ShapeNode* shape) const\n {\n auto shape_iter = robot_data.find(shape);\n if (shape_iter != robot_data.end())\n return robot_data.at(shape).casting_shadows;\n // if not in the array, cast shadow by default\n return true;\n }\n\n bool ghost(dart::dynamics::ShapeNode* shape) const\n {\n auto shape_iter = robot_data.find(shape);\n if (shape_iter != robot_data.end())\n return robot_data.at(shape).is_ghost;\n // if not in the array, the robot is not ghost by default\n return false;\n }\n\n std::vector<std::pair<dart::dynamics::BodyNode*, double>> drawing_axes() const\n {\n std::vector<std::pair<dart::dynamics::BodyNode*, double>> axes;\n for (std::pair<Robot*, std::vector<std::pair<dart::dynamics::BodyNode*, double>>> elem : robot_axes) {\n axes.insert(axes.end(), elem.second.begin(), elem.second.end());\n }\n\n return axes;\n }\n\n const std::vector<std::shared_ptr<simu::TextData>>& drawing_texts() const { return text_drawings; }\n };\n } // namespace simu\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > robot.cpp
Go to the source code of this file
#include <unistd.h>#include <robot_dart/robot.hpp>#include <robot_dart/utils.hpp>#include <robot_dart/utils_headers_dart_dynamics.hpp>#include <robot_dart/utils_headers_dart_io.hpp>#include <robot_dart/control/robot_control.hpp>#include <utheque/utheque.hpp>The documentation for this class was generated from the following file robot_dart/robot.cpp
File List > robot_dart > robot.cpp
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#include <unistd.h>\n\n#include <robot_dart/robot.hpp>\n#include <robot_dart/utils.hpp>\n#include <robot_dart/utils_headers_dart_dynamics.hpp>\n#include <robot_dart/utils_headers_dart_io.hpp>\n\n#include <robot_dart/control/robot_control.hpp>\n\n#include <utheque/utheque.hpp> // library of URDF\n\nnamespace robot_dart {\n namespace detail {\n template <int content>\n Eigen::VectorXd dof_data(dart::dynamics::SkeletonPtr skeleton, const std::vector<std::string>& dof_names, const std::unordered_map<std::string, size_t>& dof_map)\n {\n // Return all values\n if (dof_names.empty()) {\n if (content == 0)\n return skeleton->getPositions();\n else if (content == 1)\n return skeleton->getVelocities();\n else if (content == 2)\n return skeleton->getAccelerations();\n else if (content == 3)\n return skeleton->getForces();\n else if (content == 4)\n return skeleton->getCommands();\n else if (content == 5)\n return skeleton->getPositionLowerLimits();\n else if (content == 6)\n return skeleton->getPositionUpperLimits();\n else if (content == 7)\n return skeleton->getVelocityLowerLimits();\n else if (content == 8)\n return skeleton->getVelocityUpperLimits();\n else if (content == 9)\n return skeleton->getAccelerationLowerLimits();\n else if (content == 10)\n return skeleton->getAccelerationUpperLimits();\n else if (content == 11)\n return skeleton->getForceLowerLimits();\n else if (content == 12)\n return skeleton->getForceUpperLimits();\n else if (content == 13)\n return skeleton->getCoriolisForces();\n else if (content == 14)\n return skeleton->getGravityForces();\n else if (content == 15)\n return skeleton->getCoriolisAndGravityForces();\n else if (content == 16)\n return skeleton->getConstraintForces();\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n\n Eigen::VectorXd data(dof_names.size());\n Eigen::VectorXd tmp;\n\n if (content == 13)\n tmp = skeleton->getCoriolisForces();\n else if (content == 14)\n tmp = skeleton->getGravityForces();\n else if (content == 15)\n tmp = skeleton->getCoriolisAndGravityForces();\n else if (content == 16)\n tmp = skeleton->getConstraintForces();\n\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", Eigen::VectorXd());\n auto dof = skeleton->getDof(it->second);\n if (content == 0)\n data(i) = dof->getPosition();\n else if (content == 1)\n data(i) = dof->getVelocity();\n else if (content == 2)\n data(i) = dof->getAcceleration();\n else if (content == 3)\n data(i) = dof->getForce();\n else if (content == 4)\n data(i) = dof->getCommand();\n else if (content == 5)\n data(i) = dof->getPositionLowerLimit();\n else if (content == 6)\n data(i) = dof->getPositionUpperLimit();\n else if (content == 7)\n data(i) = dof->getVelocityLowerLimit();\n else if (content == 8)\n data(i) = dof->getVelocityUpperLimit();\n else if (content == 9)\n data(i) = dof->getAccelerationLowerLimit();\n else if (content == 10)\n data(i) = dof->getAccelerationUpperLimit();\n else if (content == 11)\n data(i) = dof->getForceLowerLimit();\n else if (content == 12)\n data(i) = dof->getForceUpperLimit();\n else if (content == 13 || content == 14 || content == 15 || content == 16)\n data(i) = tmp(it->second);\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n return data;\n }\n\n template <int content>\n void set_dof_data(const Eigen::VectorXd& data, dart::dynamics::SkeletonPtr skeleton, const std::vector<std::string>& dof_names, const std::unordered_map<std::string, size_t>& dof_map)\n {\n // Set all values\n if (dof_names.empty()) {\n ROBOT_DART_ASSERT(static_cast<size_t>(data.size()) == skeleton->getNumDofs(), \"set_dof_data: size of data is not the same as the DoFs\", );\n if (content == 0)\n return skeleton->setPositions(data);\n else if (content == 1)\n return skeleton->setVelocities(data);\n else if (content == 2)\n return skeleton->setAccelerations(data);\n else if (content == 3)\n return skeleton->setForces(data);\n else if (content == 4)\n return skeleton->setCommands(data);\n else if (content == 5)\n return skeleton->setPositionLowerLimits(data);\n else if (content == 6)\n return skeleton->setPositionUpperLimits(data);\n else if (content == 7)\n return skeleton->setVelocityLowerLimits(data);\n else if (content == 8)\n return skeleton->setVelocityUpperLimits(data);\n else if (content == 9)\n return skeleton->setAccelerationLowerLimits(data);\n else if (content == 10)\n return skeleton->setAccelerationUpperLimits(data);\n else if (content == 11)\n return skeleton->setForceLowerLimits(data);\n else if (content == 12)\n return skeleton->setForceUpperLimits(data);\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n\n ROBOT_DART_ASSERT(static_cast<size_t>(data.size()) == dof_names.size(), \"set_dof_data: size of data is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", );\n auto dof = skeleton->getDof(it->second);\n if (content == 0)\n dof->setPosition(data(i));\n else if (content == 1)\n dof->setVelocity(data(i));\n else if (content == 2)\n dof->setAcceleration(data(i));\n else if (content == 3)\n dof->setForce(data(i));\n else if (content == 4)\n dof->setCommand(data(i));\n else if (content == 5)\n dof->setPositionLowerLimit(data(i));\n else if (content == 6)\n dof->setPositionUpperLimit(data(i));\n else if (content == 7)\n dof->setVelocityLowerLimit(data(i));\n else if (content == 8)\n dof->setVelocityUpperLimit(data(i));\n else if (content == 9)\n dof->setAccelerationLowerLimit(data(i));\n else if (content == 10)\n dof->setAccelerationUpperLimit(data(i));\n else if (content == 11)\n dof->setForceLowerLimit(data(i));\n else if (content == 12)\n dof->setForceUpperLimit(data(i));\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n }\n\n template <int content>\n void add_dof_data(const Eigen::VectorXd& data, dart::dynamics::SkeletonPtr skeleton, const std::vector<std::string>& dof_names, const std::unordered_map<std::string, size_t>& dof_map)\n {\n // Set all values\n if (dof_names.empty()) {\n ROBOT_DART_ASSERT(static_cast<size_t>(data.size()) == skeleton->getNumDofs(), \"set_dof_data: size of data is not the same as the DoFs\", );\n if (content == 0)\n return skeleton->setPositions(skeleton->getPositions() + data);\n else if (content == 1)\n return skeleton->setVelocities(skeleton->getVelocities() + data);\n else if (content == 2)\n return skeleton->setAccelerations(skeleton->getAccelerations() + data);\n else if (content == 3)\n return skeleton->setForces(skeleton->getForces() + data);\n else if (content == 4)\n return skeleton->setCommands(skeleton->getCommands() + data);\n else if (content == 5)\n return skeleton->setPositionLowerLimits(skeleton->getPositionLowerLimits() + data);\n else if (content == 6)\n return skeleton->setPositionUpperLimits(skeleton->getPositionUpperLimits() + data);\n else if (content == 7)\n return skeleton->setVelocityLowerLimits(skeleton->getVelocityLowerLimits() + data);\n else if (content == 8)\n return skeleton->setVelocityUpperLimits(skeleton->getVelocityUpperLimits() + data);\n else if (content == 9)\n return skeleton->setAccelerationLowerLimits(skeleton->getAccelerationLowerLimits() + data);\n else if (content == 10)\n return skeleton->setAccelerationUpperLimits(skeleton->getAccelerationUpperLimits() + data);\n else if (content == 11)\n return skeleton->setForceLowerLimits(skeleton->getForceLowerLimits() + data);\n else if (content == 12)\n return skeleton->setForceUpperLimits(skeleton->getForceUpperLimits() + data);\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n\n ROBOT_DART_ASSERT(static_cast<size_t>(data.size()) == dof_names.size(), \"add_dof_data: size of data is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", );\n auto dof = skeleton->getDof(it->second);\n if (content == 0)\n dof->setPosition(dof->getPosition() + data(i));\n else if (content == 1)\n dof->setVelocity(dof->getVelocity() + data(i));\n else if (content == 2)\n dof->setAcceleration(dof->getAcceleration() + data(i));\n else if (content == 3)\n dof->setForce(dof->getForce() + data(i));\n else if (content == 4)\n dof->setCommand(dof->getCommand() + data(i));\n else if (content == 5)\n dof->setPositionLowerLimit(dof->getPositionLowerLimit() + data(i));\n else if (content == 6)\n dof->setPositionUpperLimit(dof->getPositionUpperLimit() + data(i));\n else if (content == 7)\n dof->setVelocityLowerLimit(dof->getVelocityLowerLimit() + data(i));\n else if (content == 8)\n dof->setVelocityUpperLimit(dof->getVelocityUpperLimit() + data(i));\n else if (content == 9)\n dof->setAccelerationLowerLimit(dof->getAccelerationLowerLimit() + data(i));\n else if (content == 10)\n dof->setAccelerationUpperLimit(dof->getAccelerationUpperLimit() + data(i));\n else if (content == 11)\n dof->setForceLowerLimit(dof->getForceLowerLimit() + data(i));\n else if (content == 12)\n dof->setForceUpperLimit(dof->getForceUpperLimit() + data(i));\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n }\n } // namespace detail\n\n Robot::Robot(const std::string& model_file, const std::vector<std::pair<std::string, std::string>>& packages, const std::string& robot_name, bool is_urdf_string, bool cast_shadows)\n : _robot_name(robot_name), _skeleton(_load_model(model_file, packages, is_urdf_string)), _cast_shadows(cast_shadows), _is_ghost(false)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_skeleton != nullptr);\n update_joint_dof_maps();\n }\n\n Robot::Robot(const std::string& model_file, const std::string& robot_name, bool is_urdf_string, bool cast_shadows)\n : Robot(model_file, std::vector<std::pair<std::string, std::string>>(), robot_name, is_urdf_string, cast_shadows)\n {\n }\n\n Robot::Robot(dart::dynamics::SkeletonPtr skeleton, const std::string& robot_name, bool cast_shadows)\n : _robot_name(robot_name), _skeleton(skeleton), _cast_shadows(cast_shadows), _is_ghost(false)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_skeleton != nullptr);\n _skeleton->setName(robot_name);\n update_joint_dof_maps();\n reset();\n }\n\n std::shared_ptr<Robot> Robot::clone() const\n {\n // safely clone the skeleton\n _skeleton->getMutex().lock();\n#if DART_VERSION_AT_LEAST(6, 7, 2)\n auto tmp_skel = _skeleton->cloneSkeleton();\n#else\n auto tmp_skel = _skeleton->clone();\n#endif\n _skeleton->getMutex().unlock();\n auto robot = std::make_shared<Robot>(tmp_skel, _robot_name);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n // Deep copy everything\n for (auto& bd : robot->skeleton()->getBodyNodes()) {\n auto& visual_shapes = bd->getShapeNodesWith<dart::dynamics::VisualAspect>();\n for (auto& shape : visual_shapes) {\n if (shape->getShape()->getType() != dart::dynamics::SoftMeshShape::getStaticType())\n shape->setShape(shape->getShape()->clone());\n }\n }\n#endif\n\n robot->set_positions(this->positions());\n\n robot->_model_filename = _model_filename;\n robot->_controllers.clear();\n for (auto& ctrl : _controllers) {\n robot->add_controller(ctrl->clone(), ctrl->weight());\n }\n return robot;\n }\n\n std::shared_ptr<Robot> Robot::clone_ghost(const std::string& ghost_name, const Eigen::Vector4d& ghost_color) const\n {\n // safely clone the skeleton\n _skeleton->getMutex().lock();\n#if DART_VERSION_AT_LEAST(6, 7, 2)\n auto tmp_skel = _skeleton->cloneSkeleton();\n#else\n auto tmp_skel = _skeleton->clone();\n#endif\n _skeleton->getMutex().unlock();\n auto robot = std::make_shared<Robot>(tmp_skel, ghost_name + \"_\" + _robot_name);\n robot->_model_filename = _model_filename;\n\n // ghost robots have no controllers\n robot->_controllers.clear();\n // ghost robots do not do physics updates\n robot->skeleton()->setMobile(false);\n for (auto& bd : robot->skeleton()->getBodyNodes()) {\n // ghost robots do not have collisions\n auto& collision_shapes = bd->getShapeNodesWith<dart::dynamics::CollisionAspect>();\n for (auto& shape : collision_shapes) {\n shape->removeAspect<dart::dynamics::CollisionAspect>();\n }\n\n // ghost robots do not have dynamics\n auto& dyn_shapes = bd->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n shape->removeAspect<dart::dynamics::DynamicsAspect>();\n }\n\n // ghost robots have a different color (same for all bodies)\n auto& visual_shapes = bd->getShapeNodesWith<dart::dynamics::VisualAspect>();\n for (auto& shape : visual_shapes) {\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n if (shape->getShape()->getType() != dart::dynamics::SoftMeshShape::getStaticType())\n shape->setShape(shape->getShape()->clone());\n#endif\n shape->getVisualAspect()->setRGBA(ghost_color);\n }\n }\n\n // set positions\n robot->set_positions(this->positions());\n\n // ghost robots, by default, use the color from the VisualAspect\n robot->set_color_mode(\"aspect\");\n\n // ghost robots do not cast shadows\n robot->set_cast_shadows(false);\n // set the ghost flag\n robot->set_ghost(true);\n\n return robot;\n }\n\n dart::dynamics::SkeletonPtr Robot::skeleton() { return _skeleton; }\n\n dart::dynamics::BodyNode* Robot::body_node(const std::string& body_name) { return _skeleton->getBodyNode(body_name); }\n\n dart::dynamics::BodyNode* Robot::body_node(size_t body_index)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", nullptr);\n return _skeleton->getBodyNode(body_index);\n }\n\n dart::dynamics::Joint* Robot::joint(const std::string& joint_name) { return _skeleton->getJoint(joint_name); }\n\n dart::dynamics::Joint* Robot::joint(size_t joint_index)\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"Joint index out of bounds\", nullptr);\n return _skeleton->getJoint(joint_index);\n }\n\n dart::dynamics::DegreeOfFreedom* Robot::dof(const std::string& dof_name) { return _skeleton->getDof(dof_name); }\n\n dart::dynamics::DegreeOfFreedom* Robot::dof(size_t dof_index)\n {\n ROBOT_DART_ASSERT(dof_index < _skeleton->getNumDofs(), \"Dof index out of bounds\", nullptr);\n return _skeleton->getDof(dof_index);\n }\n\n const std::string& Robot::name() const { return _robot_name; }\n\n void Robot::update(double t)\n {\n _skeleton->setCommands(Eigen::VectorXd::Zero(_skeleton->getNumDofs()));\n\n for (auto& ctrl : _controllers) {\n if (ctrl->active())\n detail::add_dof_data<4>(ctrl->weight() * ctrl->calculate(t), _skeleton,\n ctrl->controllable_dofs(), _dof_map);\n }\n }\n\n void Robot::reinit_controllers()\n {\n for (auto& ctrl : _controllers)\n ctrl->init();\n }\n\n size_t Robot::num_controllers() const { return _controllers.size(); }\n\n std::vector<std::shared_ptr<control::RobotControl>> Robot::controllers() const\n {\n return _controllers;\n }\n\n std::vector<std::shared_ptr<control::RobotControl>> Robot::active_controllers() const\n {\n std::vector<std::shared_ptr<control::RobotControl>> ctrls;\n for (auto& ctrl : _controllers) {\n if (ctrl->active())\n ctrls.push_back(ctrl);\n }\n\n return ctrls;\n }\n\n std::shared_ptr<control::RobotControl> Robot::controller(size_t index) const\n {\n ROBOT_DART_ASSERT(index < _controllers.size(), \"Controller index out of bounds\", nullptr);\n return _controllers[index];\n }\n\n void Robot::add_controller(\n const std::shared_ptr<control::RobotControl>& controller, double weight)\n {\n _controllers.push_back(controller);\n controller->set_robot(this->shared_from_this());\n controller->set_weight(weight);\n controller->init();\n }\n\n void Robot::remove_controller(const std::shared_ptr<control::RobotControl>& controller)\n {\n auto it = std::find(_controllers.begin(), _controllers.end(), controller);\n if (it != _controllers.end())\n _controllers.erase(it);\n }\n\n void Robot::remove_controller(size_t index)\n {\n ROBOT_DART_ASSERT(index < _controllers.size(), \"Controller index out of bounds\", );\n _controllers.erase(_controllers.begin() + index);\n }\n\n void Robot::clear_controllers() { _controllers.clear(); }\n\n void Robot::fix_to_world()\n {\n auto parent_jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", );\n\n if (fixed())\n return;\n\n Eigen::Isometry3d tf(dart::math::expAngular(_skeleton->getPositions().head(3)));\n tf.translation() = _skeleton->getPositions().segment(3, 3);\n dart::dynamics::WeldJoint::Properties properties;\n properties.mName = parent_jt->getName();\n _skeleton->getRootBodyNode()->changeParentJointType<dart::dynamics::WeldJoint>(properties);\n _skeleton->getRootBodyNode()->getParentJoint()->setTransformFromParentBodyNode(tf);\n\n reinit_controllers();\n update_joint_dof_maps();\n }\n\n // pose: Orientation-Position\n void Robot::free_from_world(const Eigen::Vector6d& pose)\n {\n auto parent_jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", );\n\n Eigen::Isometry3d tf(dart::math::expAngular(pose.head(3)));\n tf.translation() = pose.segment(3, 3);\n\n // if already free, we only change the transformation\n if (free()) {\n parent_jt->setTransformFromParentBodyNode(tf);\n return;\n }\n\n dart::dynamics::FreeJoint::Properties properties;\n properties.mName = parent_jt->getName();\n _skeleton->getRootBodyNode()->changeParentJointType<dart::dynamics::FreeJoint>(properties);\n _skeleton->getRootBodyNode()->getParentJoint()->setTransformFromParentBodyNode(tf);\n\n reinit_controllers();\n update_joint_dof_maps();\n }\n\n bool Robot::fixed() const\n {\n auto parent_jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", false);\n return parent_jt->getType() == dart::dynamics::WeldJoint::getStaticType();\n }\n\n bool Robot::free() const\n {\n auto parent_jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", false);\n return parent_jt->getType() == dart::dynamics::FreeJoint::getStaticType();\n }\n\n void Robot::reset()\n {\n _skeleton->resetPositions();\n _skeleton->resetVelocities();\n _skeleton->resetAccelerations();\n\n clear_internal_forces();\n reset_commands();\n clear_external_forces();\n }\n\n void Robot::clear_external_forces() { _skeleton->clearExternalForces(); }\n\n void Robot::clear_internal_forces()\n {\n _skeleton->clearInternalForces();\n _skeleton->clearConstraintImpulses();\n }\n\n void Robot::reset_commands() { _skeleton->resetCommands(); }\n\n void Robot::set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names, bool override_mimic, bool override_base)\n {\n // Set all dofs to same actuator type\n if (joint_names.empty()) {\n if (type == \"torque\") {\n return _set_actuator_types(dart::dynamics::Joint::FORCE, override_mimic, override_base);\n }\n else if (type == \"servo\") {\n return _set_actuator_types(dart::dynamics::Joint::SERVO, override_mimic, override_base);\n }\n else if (type == \"velocity\") {\n return _set_actuator_types(dart::dynamics::Joint::VELOCITY, override_mimic, override_base);\n }\n else if (type == \"passive\") {\n return _set_actuator_types(dart::dynamics::Joint::PASSIVE, override_mimic, override_base);\n }\n else if (type == \"locked\") {\n return _set_actuator_types(dart::dynamics::Joint::LOCKED, override_mimic, override_base);\n }\n else if (type == \"mimic\") {\n ROBOT_DART_WARNING(true, \"Use this only if you know what you are doing. Use set_mimic otherwise.\");\n return _set_actuator_types(dart::dynamics::Joint::MIMIC, override_mimic, override_base);\n }\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of actuator type. Valid values: torque, servo, velocity, passive, locked, mimic\");\n }\n\n for (size_t i = 0; i < joint_names.size(); i++) {\n auto it = _joint_map.find(joint_names[i]);\n ROBOT_DART_ASSERT(it != _joint_map.end(), \"set_actuator_type: \" + joint_names[i] + \" is not in joint_map\", );\n if (type == \"torque\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::FORCE, override_mimic, override_base);\n }\n else if (type == \"servo\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::SERVO, override_mimic, override_base);\n }\n else if (type == \"velocity\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::VELOCITY, override_mimic, override_base);\n }\n else if (type == \"passive\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::PASSIVE, override_mimic, override_base);\n }\n else if (type == \"locked\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::LOCKED, override_mimic, override_base);\n }\n else if (type == \"mimic\") {\n ROBOT_DART_WARNING(true, \"Use this only if you know what you are doing. Use set_mimic otherwise.\");\n _set_actuator_type(it->second, dart::dynamics::Joint::MIMIC, override_mimic, override_base);\n }\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of actuator type. Valid values: torque, servo, velocity, passive, locked, mimic\");\n }\n }\n\n void Robot::set_actuator_type(const std::string& type, const std::string& joint_name, bool override_mimic, bool override_base)\n {\n set_actuator_types(type, {joint_name}, override_mimic, override_base);\n }\n\n void Robot::set_mimic(const std::string& joint_name, const std::string& mimic_joint_name, double multiplier, double offset)\n {\n dart::dynamics::Joint* jnt = _skeleton->getJoint(joint_name);\n const dart::dynamics::Joint* mimic_jnt = _skeleton->getJoint(mimic_joint_name);\n\n ROBOT_DART_ASSERT((jnt && mimic_jnt), \"set_mimic: joint names do not exist\", );\n\n jnt->setActuatorType(dart::dynamics::Joint::MIMIC);\n jnt->setMimicJoint(mimic_jnt, multiplier, offset);\n }\n\n std::string Robot::actuator_type(const std::string& joint_name) const\n {\n auto it = _joint_map.find(joint_name);\n ROBOT_DART_ASSERT(it != _joint_map.end(), \"actuator_type: \" + joint_name + \" is not in joint_map\", \"invalid\");\n\n auto type = _actuator_type(it->second);\n if (type == dart::dynamics::Joint::FORCE)\n return \"torque\";\n else if (type == dart::dynamics::Joint::SERVO)\n return \"servo\";\n else if (type == dart::dynamics::Joint::VELOCITY)\n return \"velocity\";\n else if (type == dart::dynamics::Joint::PASSIVE)\n return \"passive\";\n else if (type == dart::dynamics::Joint::LOCKED)\n return \"locked\";\n else if (type == dart::dynamics::Joint::MIMIC)\n return \"mimic\";\n\n ROBOT_DART_ASSERT(false, \"actuator_type: we should not reach here\", \"invalid\");\n }\n\n std::vector<std::string> Robot::actuator_types(const std::vector<std::string>& joint_names) const\n {\n std::vector<std::string> str_types;\n // Get all dofs\n if (joint_names.empty()) {\n auto types = _actuator_types();\n\n for (size_t i = 0; i < types.size(); i++) {\n auto type = types[i];\n if (type == dart::dynamics::Joint::FORCE)\n str_types.push_back(\"torque\");\n else if (type == dart::dynamics::Joint::SERVO)\n str_types.push_back(\"servo\");\n else if (type == dart::dynamics::Joint::VELOCITY)\n str_types.push_back(\"velocity\");\n else if (type == dart::dynamics::Joint::PASSIVE)\n str_types.push_back(\"passive\");\n else if (type == dart::dynamics::Joint::LOCKED)\n str_types.push_back(\"locked\");\n else if (type == dart::dynamics::Joint::MIMIC)\n str_types.push_back(\"mimic\");\n }\n\n ROBOT_DART_ASSERT(str_types.size() == types.size(), \"actuator_types: sizes of retrieved modes do not match\", {});\n\n return str_types;\n }\n\n for (size_t i = 0; i < joint_names.size(); i++) {\n str_types.push_back(actuator_type(joint_names[i]));\n }\n\n ROBOT_DART_ASSERT(str_types.size() == joint_names.size(), \"actuator_types: sizes of retrieved modes do not match\", {});\n\n return str_types;\n }\n\n void Robot::set_position_enforced(const std::vector<bool>& enforced, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0) {\n ROBOT_DART_ASSERT(enforced.size() == _skeleton->getNumDofs(),\n \"Position enforced vector size is not the same as the DOFs of the robot\", );\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n _skeleton->getDof(i)->getJoint()->setLimitEnforcement(enforced[i]);\n#else\n _skeleton->getDof(i)->getJoint()->setPositionLimitEnforced(enforced[i]);\n#endif\n }\n }\n else {\n ROBOT_DART_ASSERT(enforced.size() == dof_names.size(),\n \"Position enforced vector size is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_position_enforced: \" + dof_names[i] + \" is not in dof_map\", );\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n _skeleton->getDof(it->second)->getJoint()->setLimitEnforcement(enforced[i]);\n#else\n _skeleton->getDof(it->second)->getJoint()->setPositionLimitEnforced(enforced[i]);\n#endif\n }\n }\n }\n\n void Robot::set_position_enforced(bool enforced, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0)\n n_dofs = _skeleton->getNumDofs();\n std::vector<bool> enforced_all(n_dofs, enforced);\n\n set_position_enforced(enforced_all, dof_names);\n }\n\n std::vector<bool> Robot::position_enforced(const std::vector<std::string>& dof_names) const\n {\n std::vector<bool> pos;\n if (dof_names.size() == 0) {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n pos.push_back(_skeleton->getDof(i)->getJoint()->areLimitsEnforced());\n#else\n pos.push_back(_skeleton->getDof(i)->getJoint()->isPositionLimitEnforced());\n#endif\n }\n }\n else {\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"position_enforced: \" + dof_names[i] + \" is not in dof_map\", std::vector<bool>());\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n pos.push_back(_skeleton->getDof(it->second)->getJoint()->areLimitsEnforced());\n#else\n pos.push_back(_skeleton->getDof(it->second)->getJoint()->isPositionLimitEnforced());\n#endif\n }\n }\n\n return pos;\n }\n\n void Robot::force_position_bounds()\n {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n auto dof = _skeleton->getDof(i);\n auto jt = dof->getJoint();\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n bool force = jt->areLimitsEnforced();\n#else\n bool force = jt->isPositionLimitEnforced();\n#endif\n auto type = jt->getActuatorType();\n force = force || type == dart::dynamics::Joint::SERVO || type == dart::dynamics::Joint::MIMIC;\n\n if (force) {\n double epsilon = 1e-5;\n if (dof->getPosition() > dof->getPositionUpperLimit()) {\n dof->setPosition(dof->getPositionUpperLimit() - epsilon);\n }\n else if (dof->getPosition() < dof->getPositionLowerLimit()) {\n dof->setPosition(dof->getPositionLowerLimit() + epsilon);\n }\n }\n }\n }\n\n void Robot::set_damping_coeffs(const std::vector<double>& damps, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0) {\n ROBOT_DART_ASSERT(damps.size() == _skeleton->getNumDofs(),\n \"Damping coefficient vector size is not the same as the DOFs of the robot\", );\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n _skeleton->getDof(i)->setDampingCoefficient(damps[i]);\n }\n }\n else {\n ROBOT_DART_ASSERT(damps.size() == dof_names.size(),\n \"Damping coefficient vector size is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_damping_coeffs: \" + dof_names[i] + \" is not in dof_map\", );\n _skeleton->getDof(it->second)->setDampingCoefficient(damps[i]);\n }\n }\n }\n\n void Robot::set_damping_coeffs(double damp, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0)\n n_dofs = _skeleton->getNumDofs();\n std::vector<double> damps_all(n_dofs, damp);\n\n set_damping_coeffs(damps_all, dof_names);\n }\n\n std::vector<double> Robot::damping_coeffs(const std::vector<std::string>& dof_names) const\n {\n std::vector<double> dampings;\n if (dof_names.size() == 0) {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n dampings.push_back(_skeleton->getDof(i)->getDampingCoefficient());\n }\n }\n else {\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"damping_coeffs: \" + dof_names[i] + \" is not in dof_map\", std::vector<double>());\n dampings.push_back(_skeleton->getDof(it->second)->getDampingCoefficient());\n }\n }\n\n return dampings;\n }\n\n void Robot::set_coulomb_coeffs(const std::vector<double>& cfrictions, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0) {\n ROBOT_DART_ASSERT(cfrictions.size() == _skeleton->getNumDofs(),\n \"Coulomb friction coefficient vector size is not the same as the DOFs of the robot\", );\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n _skeleton->getDof(i)->setCoulombFriction(cfrictions[i]);\n }\n }\n else {\n ROBOT_DART_ASSERT(cfrictions.size() == dof_names.size(),\n \"Coulomb friction coefficient vector size is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_coulomb_coeffs: \" + dof_names[i] + \" is not in dof_map\", );\n _skeleton->getDof(it->second)->setCoulombFriction(cfrictions[i]);\n }\n }\n }\n\n void Robot::set_coulomb_coeffs(double cfriction, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0)\n n_dofs = _skeleton->getNumDofs();\n std::vector<double> cfrictions(n_dofs, cfriction);\n\n set_coulomb_coeffs(cfrictions, dof_names);\n }\n\n std::vector<double> Robot::coulomb_coeffs(const std::vector<std::string>& dof_names) const\n {\n std::vector<double> cfrictions;\n if (dof_names.size() == 0) {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n cfrictions.push_back(_skeleton->getDof(i)->getCoulombFriction());\n }\n }\n else {\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"coulomb_coeffs: \" + dof_names[i] + \" is not in dof_map\", std::vector<double>());\n cfrictions.push_back(_skeleton->getDof(it->second)->getCoulombFriction());\n }\n }\n\n return cfrictions;\n }\n\n void Robot::set_spring_stiffnesses(const std::vector<double>& stiffnesses, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0) {\n ROBOT_DART_ASSERT(stiffnesses.size() == _skeleton->getNumDofs(),\n \"Spring stiffnesses vector size is not the same as the DOFs of the robot\", );\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n _skeleton->getDof(i)->setSpringStiffness(stiffnesses[i]);\n }\n }\n else {\n ROBOT_DART_ASSERT(stiffnesses.size() == dof_names.size(),\n \"Spring stiffnesses vector size is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_spring_stiffnesses: \" + dof_names[i] + \" is not in dof_map\", );\n _skeleton->getDof(it->second)->setSpringStiffness(stiffnesses[i]);\n }\n }\n }\n\n void Robot::set_spring_stiffnesses(double stiffness, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0)\n n_dofs = _skeleton->getNumDofs();\n std::vector<double> stiffnesses(n_dofs, stiffness);\n\n set_spring_stiffnesses(stiffnesses, dof_names);\n }\n\n std::vector<double> Robot::spring_stiffnesses(const std::vector<std::string>& dof_names) const\n {\n std::vector<double> stiffnesses;\n if (dof_names.size() == 0) {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n stiffnesses.push_back(_skeleton->getDof(i)->getSpringStiffness());\n }\n }\n else {\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"spring_stiffnesses: \" + dof_names[i] + \" is not in dof_map\", std::vector<double>());\n stiffnesses.push_back(_skeleton->getDof(it->second)->getSpringStiffness());\n }\n }\n\n return stiffnesses;\n }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto body_node_set_friction_dir = [](dart::dynamics::BodyNode* body, const Eigen::Vector3d& direction) {\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n const auto& dyn = shape->getDynamicsAspect();\n dyn->setFirstFrictionDirection(direction);\n dyn->setFirstFrictionDirectionFrame(body);\n }\n };\n#endif\n\n void Robot::set_friction_dir(const std::string& body_name, const Eigen::Vector3d& direction)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n body_node_set_friction_dir(bd, direction);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n#endif\n }\n\n void Robot::set_friction_dir(size_t body_index, const Eigen::Vector3d& direction)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n body_node_set_friction_dir(_skeleton->getBodyNode(body_index), direction);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n#endif\n }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto body_node_get_friction_dir = [](dart::dynamics::BodyNode* body) {\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n const auto& dyn = shape->getDynamicsAspect();\n return dyn->getFirstFrictionDirection(); // assume all shape nodes have the same friction direction\n }\n\n return Eigen::Vector3d(Eigen::Vector3d::Zero());\n };\n#endif\n\n Eigen::Vector3d Robot::friction_dir(const std::string& body_name)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector3d::Zero());\n\n return body_node_get_friction_dir(bd);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n return Eigen::Vector3d::Zero();\n#endif\n }\n\n Eigen::Vector3d Robot::friction_dir(size_t body_index)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector3d::Zero());\n\n return body_node_get_friction_dir(_skeleton->getBodyNode(body_index));\n#else\n ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n return Eigen::Vector3d::Zero();\n#endif\n }\n\n auto body_node_set_friction_coeff = [](dart::dynamics::BodyNode* body, double value) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n shape->getDynamicsAspect()->setFrictionCoeff(value);\n }\n#else\n body->setFrictionCoeff(value);\n#endif\n };\n\n void Robot::set_friction_coeff(const std::string& body_name, double value)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n body_node_set_friction_coeff(bd, value);\n }\n\n void Robot::set_friction_coeff(size_t body_index, double value)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n body_node_set_friction_coeff(_skeleton->getBodyNode(body_index), value);\n }\n\n void Robot::set_friction_coeffs(double value)\n {\n for (auto bd : _skeleton->getBodyNodes())\n body_node_set_friction_coeff(bd, value);\n }\n\n auto body_node_get_friction_coeff = [](dart::dynamics::BodyNode* body) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n return shape->getDynamicsAspect()->getFrictionCoeff(); // assume all shape nodes have the same friction\n }\n\n return 0.;\n#else\n return body->getFrictionCoeff();\n#endif\n };\n\n double Robot::friction_coeff(const std::string& body_name)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n return body_node_get_friction_coeff(bd);\n }\n\n double Robot::friction_coeff(size_t body_index)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n return body_node_get_friction_coeff(_skeleton->getBodyNode(body_index));\n }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto body_node_set_secondary_friction_coeff = [](dart::dynamics::BodyNode* body, double value) {\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n shape->getDynamicsAspect()->setSecondaryFrictionCoeff(value);\n }\n };\n#endif\n\n void Robot::set_secondary_friction_coeff(const std::string& body_name, double value)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n body_node_set_secondary_friction_coeff(bd, value);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n }\n\n void Robot::set_secondary_friction_coeff(size_t body_index, double value)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n body_node_set_secondary_friction_coeff(_skeleton->getBodyNode(body_index), value);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n }\n\n void Robot::set_secondary_friction_coeffs(double value)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n for (auto bd : _skeleton->getBodyNodes())\n body_node_set_secondary_friction_coeff(bd, value);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto body_node_get_secondary_friction_coeff = [](dart::dynamics::BodyNode* body) {\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n return shape->getDynamicsAspect()->getSecondaryFrictionCoeff(); // assume all shape nodes have the same friction\n }\n\n return 0.;\n };\n#endif\n\n double Robot::secondary_friction_coeff(const std::string& body_name)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n return body_node_get_secondary_friction_coeff(bd);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n return 0.;\n#endif\n }\n\n double Robot::secondary_friction_coeff(size_t body_index)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n return body_node_get_secondary_friction_coeff(_skeleton->getBodyNode(body_index));\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n return 0.;\n#endif\n }\n\n auto body_node_set_restitution_coeff = [](dart::dynamics::BodyNode* body, double value) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n shape->getDynamicsAspect()->setRestitutionCoeff(value);\n }\n#else\n body->setRestitutionCoeff(value);\n#endif\n };\n\n void Robot::set_restitution_coeff(const std::string& body_name, double value)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n body_node_set_restitution_coeff(bd, value);\n }\n\n void Robot::set_restitution_coeff(size_t body_index, double value)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n body_node_set_restitution_coeff(_skeleton->getBodyNode(body_index), value);\n }\n\n void Robot::set_restitution_coeffs(double value)\n {\n for (auto bd : _skeleton->getBodyNodes())\n body_node_set_restitution_coeff(bd, value);\n }\n\n auto body_node_get_restitution_coeff = [](dart::dynamics::BodyNode* body) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n return shape->getDynamicsAspect()->getRestitutionCoeff(); // assume all shape nodes have the same restitution\n }\n\n return 0.;\n#else\n return body->getRestitutionCoeff();\n#endif\n };\n\n double Robot::restitution_coeff(const std::string& body_name)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n return body_node_get_restitution_coeff(bd);\n }\n\n double Robot::restitution_coeff(size_t body_index)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n\n return body_node_get_restitution_coeff(_skeleton->getBodyNode(body_index));\n }\n\n Eigen::Isometry3d Robot::base_pose() const\n {\n if (free()) {\n Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n tf.linear() = dart::math::expMapRot(_skeleton->getPositions().head<6>().head<3>());\n tf.translation() = _skeleton->getPositions().head<6>().tail<3>();\n return tf;\n }\n auto jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(jt != nullptr, \"Skeleton does not have a proper root BodyNode!\",\n Eigen::Isometry3d::Identity());\n return jt->getTransformFromParentBodyNode();\n }\n\n Eigen::Vector6d Robot::base_pose_vec() const\n {\n if (free())\n return _skeleton->getPositions().head(6);\n auto jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(jt != nullptr, \"Skeleton does not have a proper root BodyNode!\",\n Eigen::Vector6d::Zero());\n Eigen::Isometry3d tf = jt->getTransformFromParentBodyNode();\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n return x;\n }\n\n void Robot::set_base_pose(const Eigen::Isometry3d& tf)\n {\n auto jt = _skeleton->getRootBodyNode()->getParentJoint();\n if (jt) {\n if (free()) {\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n jt->setPositions(x);\n }\n else\n jt->setTransformFromParentBodyNode(tf);\n }\n }\n\n void Robot::set_base_pose(const Eigen::Vector6d& pose)\n {\n auto jt = _skeleton->getRootBodyNode()->getParentJoint();\n if (jt) {\n if (free())\n jt->setPositions(pose);\n else {\n Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n tf.linear() = dart::math::expMapRot(pose.head<3>());\n tf.translation() = pose.tail<3>();\n jt->setTransformFromParentBodyNode(tf);\n }\n }\n }\n\n size_t Robot::num_dofs() const { return _skeleton->getNumDofs(); }\n\n size_t Robot::num_joints() const { return _skeleton->getNumJoints(); }\n\n size_t Robot::num_bodies() const { return _skeleton->getNumBodyNodes(); }\n\n Eigen::Vector3d Robot::com() const { return _skeleton->getCOM(); }\n\n Eigen::Vector6d Robot::com_velocity() const { return _skeleton->getCOMSpatialVelocity(); }\n\n Eigen::Vector6d Robot::com_acceleration() const { return _skeleton->getCOMSpatialAcceleration(); }\n\n Eigen::VectorXd Robot::positions(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<0>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_positions(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<0>(positions, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::position_lower_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<5>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_position_lower_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<5>(positions, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::position_upper_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<6>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_position_upper_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<6>(positions, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::velocities(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<1>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_velocities(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<1>(velocities, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::velocity_lower_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<7>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_velocity_lower_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<7>(velocities, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::velocity_upper_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<8>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_velocity_upper_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<8>(velocities, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::accelerations(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<2>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_accelerations(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<2>(accelerations, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::acceleration_lower_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<9>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_acceleration_lower_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<9>(accelerations, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::acceleration_upper_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<10>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_acceleration_upper_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<10>(accelerations, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<3>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_forces(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<3>(forces, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::force_lower_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<11>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_force_lower_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<11>(forces, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::force_upper_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<12>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_force_upper_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<12>(forces, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::commands(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<4>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_commands(const Eigen::VectorXd& commands, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<4>(commands, _skeleton, dof_names, _dof_map);\n }\n\n std::pair<Eigen::Vector6d, Eigen::Vector6d> Robot::force_torque(size_t joint_index) const\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"Joint index out of bounds\", {});\n auto jt = _skeleton->getJoint(joint_index);\n\n Eigen::Vector6d F1 = Eigen::Vector6d::Zero();\n Eigen::Vector6d F2 = Eigen::Vector6d::Zero();\n Eigen::Isometry3d T12 = jt->getRelativeTransform();\n\n auto child_body = jt->getChildBodyNode();\n // ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", {});\n if (child_body)\n F2 = -dart::math::dAdT(jt->getTransformFromChildBodyNode(), child_body->getBodyForce());\n\n F1 = -dart::math::dAdInvR(T12, F2);\n\n // F1 contains the force applied by the parent Link on the Joint specified in the parent\n // Link frame, F2 contains the force applied by the child Link on the Joint specified in\n // the child Link frame\n return {F1, F2};\n }\n\n void Robot::set_external_force(const std::string& body_name, const Eigen::Vector3d& force, const Eigen::Vector3d& offset, bool force_local, bool offset_local)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n bd->setExtForce(force, offset, force_local, offset_local);\n }\n\n void Robot::set_external_force(size_t body_index, const Eigen::Vector3d& force, const Eigen::Vector3d& offset, bool force_local, bool offset_local)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n\n bd->setExtForce(force, offset, force_local, offset_local);\n }\n\n void Robot::add_external_force(const std::string& body_name, const Eigen::Vector3d& force, const Eigen::Vector3d& offset, bool force_local, bool offset_local)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n bd->addExtForce(force, offset, force_local, offset_local);\n }\n\n void Robot::add_external_force(size_t body_index, const Eigen::Vector3d& force, const Eigen::Vector3d& offset, bool force_local, bool offset_local)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n\n bd->addExtForce(force, offset, force_local, offset_local);\n }\n\n void Robot::set_external_torque(const std::string& body_name, const Eigen::Vector3d& torque, bool local)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n bd->setExtTorque(torque, local);\n }\n\n void Robot::set_external_torque(size_t body_index, const Eigen::Vector3d& torque, bool local)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n\n bd->setExtTorque(torque, local);\n }\n\n void Robot::add_external_torque(const std::string& body_name, const Eigen::Vector3d& torque, bool local)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n bd->addExtTorque(torque, local);\n }\n\n void Robot::add_external_torque(size_t body_index, const Eigen::Vector3d& torque, bool local)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n\n bd->addExtTorque(torque, local);\n }\n\n Eigen::Vector6d Robot::external_forces(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n\n return bd->getExternalForceGlobal();\n }\n\n Eigen::Vector6d Robot::external_forces(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\",\n Eigen::Vector6d::Zero());\n auto bd = _skeleton->getBodyNode(body_index);\n\n return bd->getExternalForceGlobal();\n }\n\n Eigen::Isometry3d Robot::body_pose(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Isometry3d::Identity());\n return bd->getWorldTransform();\n }\n\n Eigen::Isometry3d Robot::body_pose(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Isometry3d::Identity());\n return _skeleton->getBodyNode(body_index)->getWorldTransform();\n }\n\n Eigen::Vector6d Robot::body_pose_vec(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n\n Eigen::Isometry3d tf = bd->getWorldTransform();\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n\n return x;\n }\n\n Eigen::Vector6d Robot::body_pose_vec(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n\n Eigen::Isometry3d tf = _skeleton->getBodyNode(body_index)->getWorldTransform();\n\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n\n return x;\n }\n\n Eigen::Vector6d Robot::body_velocity(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n return bd->getSpatialVelocity(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n }\n\n Eigen::Vector6d Robot::body_velocity(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n return _skeleton->getBodyNode(body_index)->getSpatialVelocity(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n }\n\n Eigen::Vector6d Robot::body_acceleration(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n return bd->getSpatialAcceleration(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n }\n\n Eigen::Vector6d Robot::body_acceleration(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n return _skeleton->getBodyNode(body_index)->getSpatialAcceleration(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n }\n\n std::vector<std::string> Robot::body_names() const\n {\n std::vector<std::string> names;\n for (auto& bd : _skeleton->getBodyNodes())\n names.push_back(bd->getName());\n return names;\n }\n\n std::string Robot::body_name(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", \"\");\n return _skeleton->getBodyNode(body_index)->getName();\n }\n\n void Robot::set_body_name(size_t body_index, const std::string& body_name)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n _skeleton->getBodyNode(body_index)->setName(body_name);\n }\n\n size_t Robot::body_index(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd, \"body_index : \" + body_name + \" is not in the skeleton\", 0);\n return bd->getIndexInSkeleton();\n }\n\n double Robot::body_mass(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n return bd->getMass();\n }\n\n double Robot::body_mass(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n return _skeleton->getBodyNode(body_index)->getMass();\n }\n\n void Robot::set_body_mass(const std::string& body_name, double mass)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n bd->setMass(mass); // TO-DO: Recompute inertia?\n }\n\n void Robot::set_body_mass(size_t body_index, double mass)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n _skeleton->getBodyNode(body_index)->setMass(mass); // TO-DO: Recompute inertia?\n }\n\n void Robot::add_body_mass(const std::string& body_name, double mass)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n bd->setMass(mass + bd->getMass()); // TO-DO: Recompute inertia?\n }\n\n void Robot::add_body_mass(size_t body_index, double mass)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n bd->setMass(mass + bd->getMass()); // TO-DO: Recompute inertia?\n }\n\n Eigen::MatrixXd Robot::jacobian(const std::string& body_name, const std::vector<std::string>& dof_names) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::MatrixXd());\n\n Eigen::MatrixXd jac = _skeleton->getWorldJacobian(bd);\n\n return _jacobian(jac, dof_names);\n }\n\n Eigen::MatrixXd Robot::jacobian_deriv(const std::string& body_name, const std::vector<std::string>& dof_names) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::MatrixXd());\n\n Eigen::MatrixXd jac = _skeleton->getJacobianSpatialDeriv(bd, dart::dynamics::Frame::World());\n\n return _jacobian(jac, dof_names);\n }\n\n Eigen::MatrixXd Robot::com_jacobian(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd jac = _skeleton->getCOMJacobian();\n\n return _jacobian(jac, dof_names);\n }\n\n Eigen::MatrixXd Robot::com_jacobian_deriv(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd jac = _skeleton->getCOMJacobianSpatialDeriv();\n\n return _jacobian(jac, dof_names);\n }\n\n Eigen::MatrixXd Robot::mass_matrix(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd M = _skeleton->getMassMatrix();\n\n return _mass_matrix(M, dof_names);\n }\n\n Eigen::MatrixXd Robot::aug_mass_matrix(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd M = _skeleton->getAugMassMatrix();\n\n return _mass_matrix(M, dof_names);\n }\n\n Eigen::MatrixXd Robot::inv_mass_matrix(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd M = _skeleton->getInvMassMatrix();\n\n return _mass_matrix(M, dof_names);\n }\n\n Eigen::MatrixXd Robot::inv_aug_mass_matrix(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd M = _skeleton->getInvAugMassMatrix();\n\n return _mass_matrix(M, dof_names);\n }\n\n Eigen::VectorXd Robot::coriolis_forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<13>(_skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::gravity_forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<14>(_skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::coriolis_gravity_forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<15>(_skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::constraint_forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<16>(_skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::vec_dof(const Eigen::VectorXd& vec, const std::vector<std::string>& dof_names) const\n {\n assert(vec.size() == static_cast<int>(_skeleton->getNumDofs()));\n\n Eigen::VectorXd ret(dof_names.size());\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"vec_dof: \" + dof_names[i] + \" is not in dof_map\", Eigen::VectorXd());\n\n ret(i) = vec[it->second];\n }\n\n return ret;\n }\n\n void Robot::update_joint_dof_maps()\n {\n // DoFs\n _dof_map.clear();\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i)\n _dof_map[_skeleton->getDof(i)->getName()] = i;\n\n // Joints\n _joint_map.clear();\n for (size_t i = 0; i < _skeleton->getNumJoints(); ++i)\n _joint_map[_skeleton->getJoint(i)->getName()] = i;\n }\n\n const std::unordered_map<std::string, size_t>& Robot::dof_map() const { return _dof_map; }\n\n const std::unordered_map<std::string, size_t>& Robot::joint_map() const { return _joint_map; }\n\n std::vector<std::string> Robot::dof_names(bool filter_mimics, bool filter_locked, bool filter_passive) const\n {\n std::vector<std::string> names;\n for (auto& dof : _skeleton->getDofs()) {\n auto jt = dof->getJoint();\n if ((!filter_mimics\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n || jt->getActuatorType() != dart::dynamics::Joint::MIMIC\n#else\n || true\n#endif\n )\n && (!filter_locked || jt->getActuatorType() != dart::dynamics::Joint::LOCKED)\n && (!filter_passive || jt->getActuatorType() != dart::dynamics::Joint::PASSIVE))\n names.push_back(dof->getName());\n }\n return names;\n }\n\n std::vector<std::string> Robot::mimic_dof_names() const\n {\n std::vector<std::string> names;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n for (auto& dof : _skeleton->getDofs()) {\n auto jt = dof->getJoint();\n if (jt->getActuatorType() == dart::dynamics::Joint::MIMIC)\n names.push_back(dof->getName());\n }\n#endif\n return names;\n }\n\n std::vector<std::string> Robot::locked_dof_names() const\n {\n std::vector<std::string> names;\n for (auto& dof : _skeleton->getDofs()) {\n auto jt = dof->getJoint();\n if (jt->getActuatorType() == dart::dynamics::Joint::LOCKED)\n names.push_back(dof->getName());\n }\n return names;\n }\n\n std::vector<std::string> Robot::passive_dof_names() const\n {\n std::vector<std::string> names;\n for (auto& dof : _skeleton->getDofs()) {\n auto jt = dof->getJoint();\n if (jt->getActuatorType() == dart::dynamics::Joint::PASSIVE)\n names.push_back(dof->getName());\n }\n return names;\n }\n\n std::string Robot::dof_name(size_t dof_index) const\n {\n ROBOT_DART_ASSERT(dof_index < _skeleton->getNumDofs(), \"Dof index out of bounds\", \"\");\n return _skeleton->getDof(dof_index)->getName();\n }\n\n size_t Robot::dof_index(const std::string& dof_name) const\n {\n if (_dof_map.empty()) {\n ROBOT_DART_WARNING(true,\n \"DoF map is empty. Iterating over all skeleton DoFs to get the index. Consider \"\n \"calling update_joint_dof_maps() before using dof_index()\");\n for (size_t i = 0; i < _skeleton->getNumDofs(); i++)\n if (_skeleton->getDof(i)->getName() == dof_name)\n return i;\n ROBOT_DART_ASSERT(false, \"dof_index : \" + dof_name + \" is not in the skeleton\", 0);\n }\n auto it = _dof_map.find(dof_name);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"dof_index : \" + dof_name + \" is not in DoF map\", 0);\n return it->second;\n }\n\n std::vector<std::string> Robot::joint_names() const\n {\n std::vector<std::string> names;\n for (auto& jt : _skeleton->getJoints())\n names.push_back(jt->getName());\n return names;\n }\n\n std::string Robot::joint_name(size_t joint_index) const\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"Joint index out of bounds\", \"\");\n return _skeleton->getJoint(joint_index)->getName();\n }\n\n void Robot::set_joint_name(size_t joint_index, const std::string& joint_name)\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"Joint index out of bounds\", );\n _skeleton->getJoint(joint_index)->setName(joint_name);\n\n update_joint_dof_maps();\n }\n\n size_t Robot::joint_index(const std::string& joint_name) const\n {\n if (_joint_map.empty()) {\n ROBOT_DART_WARNING(true,\n \"Joint map is empty. Iterating over all skeleton joints to get the index. \"\n \"Consider calling update_joint_dof_maps() before using joint_index()\");\n for (size_t i = 0; i < _skeleton->getNumJoints(); i++)\n if (_skeleton->getJoint(i)->getName() == joint_name)\n return i;\n ROBOT_DART_ASSERT(false, \"joint_index : \" + joint_name + \" is not in the skeleton\", 0);\n }\n auto it = _joint_map.find(joint_name);\n ROBOT_DART_ASSERT(it != _joint_map.end(), \"joint_index : \" + joint_name + \" is not in Joint map\", 0);\n return it->second;\n }\n\n void Robot::set_color_mode(const std::string& color_mode)\n {\n if (color_mode == \"material\")\n _set_color_mode(dart::dynamics::MeshShape::ColorMode::MATERIAL_COLOR, _skeleton);\n else if (color_mode == \"assimp\")\n _set_color_mode(dart::dynamics::MeshShape::ColorMode::COLOR_INDEX, _skeleton);\n else if (color_mode == \"aspect\")\n _set_color_mode(dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR, _skeleton);\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown color mode. Valid values: material, assimp and aspect.\");\n }\n\n void Robot::set_color_mode(const std::string& color_mode, const std::string& body_name)\n {\n dart::dynamics::MeshShape::ColorMode cmode;\n if (color_mode == \"material\")\n cmode = dart::dynamics::MeshShape::ColorMode::MATERIAL_COLOR;\n else if (color_mode == \"assimp\")\n cmode = dart::dynamics::MeshShape::ColorMode::COLOR_INDEX;\n else if (color_mode == \"aspect\")\n cmode = dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR;\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown color mode. Valid values: material, assimp and aspect.\");\n\n auto bn = _skeleton->getBodyNode(body_name);\n if (bn) {\n for (size_t j = 0; j < bn->getNumShapeNodes(); ++j) {\n dart::dynamics::ShapeNode* sn = bn->getShapeNode(j);\n _set_color_mode(cmode, sn);\n }\n }\n }\n\n void Robot::set_self_collision(bool enable_self_collisions, bool enable_adjacent_collisions)\n {\n _skeleton->setSelfCollisionCheck(enable_self_collisions);\n _skeleton->setAdjacentBodyCheck(enable_adjacent_collisions);\n }\n\n bool Robot::self_colliding() const\n {\n return _skeleton->getSelfCollisionCheck();\n }\n\n bool Robot::adjacent_colliding() const\n {\n return _skeleton->getAdjacentBodyCheck() && self_colliding();\n }\n\n void Robot::set_cast_shadows(bool cast_shadows) { _cast_shadows = cast_shadows; }\n\n bool Robot::cast_shadows() const { return _cast_shadows; }\n\n void Robot::set_ghost(bool ghost) { _is_ghost = ghost; }\n\n bool Robot::ghost() const { return _is_ghost; }\n\n void Robot::set_draw_axis(const std::string& body_name, double size)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd, \"Body name does not exist in skeleton\", );\n std::pair<dart::dynamics::BodyNode*, double> p = {bd, size};\n auto iter = std::find(_axis_shapes.begin(), _axis_shapes.end(), p);\n if (iter == _axis_shapes.end())\n _axis_shapes.push_back(p);\n }\n\n void Robot::remove_all_drawing_axis()\n {\n _axis_shapes.clear();\n }\n\n const std::vector<std::pair<dart::dynamics::BodyNode*, double>>& Robot::drawing_axes() const { return _axis_shapes; }\n\n dart::dynamics::SkeletonPtr Robot::_load_model(const std::string& filename, const std::vector<std::pair<std::string, std::string>>& packages, bool is_urdf_string)\n {\n ROBOT_DART_EXCEPTION_ASSERT(!filename.empty(), \"Empty URDF filename\");\n\n dart::dynamics::SkeletonPtr tmp_skel;\n if (!is_urdf_string) {\n // search for the right directory for our files\n std::string model_file = utheque::path(filename, false, std::string(ROBOT_DART_PREFIX));\n // store the name for future use\n _model_filename = model_file;\n _packages = packages;\n // std::cout << \"RobotDART:: using: \" << model_file << std::endl;\n\n fs::path path(model_file);\n std::string extension = path.extension().string();\n if (extension == \".urdf\") {\n#if DART_VERSION_AT_LEAST(6, 12, 0)\n dart::io::DartLoader::Options options;\n // if links have no inertia, we put ~zero mass and very very small inertia\n options.mDefaultInertia = dart::dynamics::Inertia(1e-10, Eigen::Vector3d::Zero(), Eigen::Matrix3d::Identity() * 1e-6);\n dart::io::DartLoader loader(options);\n#else\n dart::io::DartLoader loader;\n#endif\n for (size_t i = 0; i < packages.size(); i++) {\n std::string package = std::get<1>(packages[i]);\n std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX));\n loader.addPackageDirectory(\n std::get<0>(packages[i]), package_path + \"/\" + package);\n }\n tmp_skel = loader.parseSkeleton(model_file);\n }\n else if (extension == \".sdf\")\n tmp_skel = dart::io::SdfParser::readSkeleton(model_file);\n else if (extension == \".skel\") {\n tmp_skel = dart::io::SkelParser::readSkeleton(model_file);\n // if the skel file contains a world\n // try to read the skeleton with name 'robot_name'\n if (!tmp_skel) {\n dart::simulation::WorldPtr world = dart::io::SkelParser::readWorld(model_file);\n tmp_skel = world->getSkeleton(_robot_name);\n }\n }\n else\n return nullptr;\n }\n else {\n // Load from URDF string\n dart::io::DartLoader loader;\n for (size_t i = 0; i < packages.size(); i++) {\n std::string package = std::get<1>(packages[i]);\n std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX));\n loader.addPackageDirectory(std::get<0>(packages[i]), package_path + \"/\" + package);\n }\n tmp_skel = loader.parseSkeletonString(filename, \"\");\n }\n\n if (tmp_skel == nullptr)\n return nullptr;\n\n tmp_skel->setName(_robot_name);\n // Set joint limits\n for (size_t i = 0; i < tmp_skel->getNumJoints(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n tmp_skel->getJoint(i)->setLimitEnforcement(true);\n#else\n tmp_skel->getJoint(i)->setPositionLimitEnforced(true);\n#endif\n }\n\n _set_color_mode(dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR, tmp_skel);\n\n return tmp_skel;\n }\n\n void Robot::_set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)\n {\n for (size_t i = 0; i < skel->getNumBodyNodes(); ++i) {\n dart::dynamics::BodyNode* bn = skel->getBodyNode(i);\n for (size_t j = 0; j < bn->getNumShapeNodes(); ++j) {\n dart::dynamics::ShapeNode* sn = bn->getShapeNode(j);\n _set_color_mode(color_mode, sn);\n }\n }\n }\n\n void Robot::_set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode* sn)\n {\n if (sn->getVisualAspect()) {\n dart::dynamics::MeshShape* ms\n = dynamic_cast<dart::dynamics::MeshShape*>(sn->getShape().get());\n if (ms)\n ms->setColorMode(color_mode);\n }\n }\n\n void Robot::_set_actuator_type(size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic, bool override_base)\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"joint_index index out of bounds\", );\n auto jt = _skeleton->getJoint(joint_index);\n // Do not override 6D base if robot is free and override_base is false\n if (free() && (!override_base && _skeleton->getRootJoint() == jt))\n return;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n if (override_mimic || jt->getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n jt->setActuatorType(type);\n }\n\n void Robot::_set_actuator_types(const std::vector<dart::dynamics::Joint::ActuatorType>& types, bool override_mimic, bool override_base)\n {\n ROBOT_DART_ASSERT(types.size() == _skeleton->getNumJoints(), \"Actuator types vector size is not the same as the joints of the robot\", );\n // Ignore first root joint if robot is free, and override_base is false\n bool ignore_base = free() && !override_base;\n auto root_jt = _skeleton->getRootJoint();\n for (size_t i = 0; i < _skeleton->getNumJoints(); ++i) {\n auto jt = _skeleton->getJoint(i);\n if (jt->getNumDofs() == 0 || (ignore_base && jt == root_jt))\n continue;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n if (override_mimic || jt->getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n jt->setActuatorType(types[i]);\n }\n }\n\n void Robot::_set_actuator_types(dart::dynamics::Joint::ActuatorType type, bool override_mimic, bool override_base)\n {\n // Ignore first root joint if robot is free, and override_base is false\n bool ignore_base = free() && !override_base;\n auto root_jt = _skeleton->getRootJoint();\n for (size_t i = 0; i < _skeleton->getNumJoints(); ++i) {\n auto jt = _skeleton->getJoint(i);\n if (jt->getNumDofs() == 0 || (ignore_base && jt == root_jt))\n continue;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n if (override_mimic || jt->getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n jt->setActuatorType(type);\n }\n }\n\n dart::dynamics::Joint::ActuatorType Robot::_actuator_type(size_t joint_index) const\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"joint_index out of bounds\", dart::dynamics::Joint::ActuatorType::FORCE);\n return _skeleton->getJoint(joint_index)->getActuatorType();\n }\n\n std::vector<dart::dynamics::Joint::ActuatorType> Robot::_actuator_types() const\n {\n std::vector<dart::dynamics::Joint::ActuatorType> types;\n for (size_t i = 0; i < _skeleton->getNumJoints(); ++i) {\n types.push_back(_skeleton->getJoint(i)->getActuatorType());\n }\n\n return types;\n }\n\n Eigen::MatrixXd Robot::_jacobian(const Eigen::MatrixXd& full_jacobian, const std::vector<std::string>& dof_names) const\n {\n if (dof_names.empty())\n return full_jacobian;\n\n Eigen::MatrixXd jac_ret(6, dof_names.size());\n\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"_jacobian: \" + dof_names[i] + \" is not in dof_map\", Eigen::MatrixXd());\n\n jac_ret.col(i) = full_jacobian.col(it->second);\n }\n\n return jac_ret;\n }\n\n Eigen::MatrixXd Robot::_mass_matrix(const Eigen::MatrixXd& full_mass_matrix, const std::vector<std::string>& dof_names) const\n {\n if (dof_names.empty())\n return full_mass_matrix;\n\n Eigen::MatrixXd M_ret(dof_names.size(), dof_names.size());\n\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"mass_matrix: \" + dof_names[i] + \" is not in dof_map\", Eigen::MatrixXd());\n\n M_ret(i, i) = full_mass_matrix(it->second, it->second);\n\n for (size_t j = i + 1; j < dof_names.size(); j++) {\n auto it2 = _dof_map.find(dof_names[j]);\n ROBOT_DART_ASSERT(it2 != _dof_map.end(), \"mass_matrix: \" + dof_names[j] + \" is not in dof_map\", Eigen::MatrixXd());\n\n M_ret(i, j) = full_mass_matrix(it->second, it2->second);\n M_ret(j, i) = full_mass_matrix(it2->second, it->second);\n }\n }\n\n return M_ret;\n }\n\n std::shared_ptr<Robot> Robot::create_box(const Eigen::Vector3d& dims, const Eigen::Isometry3d& tf, const std::string& type, double mass, const Eigen::Vector4d& color, const std::string& box_name)\n {\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n\n return create_box(dims, x, type, mass, color, box_name);\n }\n\n std::shared_ptr<Robot> Robot::create_box(const Eigen::Vector3d& dims, const Eigen::Vector6d& pose, const std::string& type, double mass, const Eigen::Vector4d& color, const std::string& box_name)\n {\n ROBOT_DART_ASSERT((dims.array() > 0.).all(), \"Dimensions should be bigger than zero!\", nullptr);\n ROBOT_DART_ASSERT(mass > 0., \"Box mass should be bigger than zero!\", nullptr);\n\n dart::dynamics::SkeletonPtr box_skel = dart::dynamics::Skeleton::create(box_name);\n\n // Give the box a body\n dart::dynamics::BodyNodePtr body;\n if (type == \"free\")\n body = box_skel->createJointAndBodyNodePair<dart::dynamics::FreeJoint>(nullptr).second;\n else\n body = box_skel->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr).second;\n body->setName(box_name);\n\n // Give the body a shape\n auto box = std::make_shared<dart::dynamics::BoxShape>(dims);\n auto box_node = body->createShapeNodeWith<dart::dynamics::VisualAspect,\n dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(box);\n box_node->getVisualAspect()->setColor(color);\n // Set up inertia\n dart::dynamics::Inertia inertia;\n inertia.setMass(mass);\n inertia.setMoment(box->computeInertia(mass));\n body->setInertia(inertia);\n\n // Put the body into position\n auto robot = std::make_shared<Robot>(box_skel, box_name);\n\n if (type == \"free\") // free floating\n robot->set_positions(pose);\n else // fixed\n {\n Eigen::Isometry3d T;\n T.linear() = dart::math::expMapRot(pose.head<3>());\n T.translation() = pose.tail<3>();\n body->getParentJoint()->setTransformFromParentBodyNode(T);\n }\n\n return robot;\n }\n\n std::shared_ptr<Robot> Robot::create_ellipsoid(const Eigen::Vector3d& dims, const Eigen::Isometry3d& tf, const std::string& type, double mass, const Eigen::Vector4d& color, const std::string& ellipsoid_name)\n {\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n\n return create_ellipsoid(dims, x, type, mass, color, ellipsoid_name);\n }\n\n std::shared_ptr<Robot> Robot::create_ellipsoid(const Eigen::Vector3d& dims, const Eigen::Vector6d& pose, const std::string& type, double mass, const Eigen::Vector4d& color, const std::string& ellipsoid_name)\n {\n ROBOT_DART_ASSERT((dims.array() > 0.).all(), \"Dimensions should be bigger than zero!\", nullptr);\n ROBOT_DART_ASSERT(mass > 0., \"Box mass should be bigger than zero!\", nullptr);\n\n dart::dynamics::SkeletonPtr ellipsoid_skel = dart::dynamics::Skeleton::create(ellipsoid_name);\n\n // Give the ellipsoid a body\n dart::dynamics::BodyNodePtr body;\n if (type == \"free\")\n body = ellipsoid_skel->createJointAndBodyNodePair<dart::dynamics::FreeJoint>(nullptr).second;\n else\n body = ellipsoid_skel->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr).second;\n body->setName(ellipsoid_name);\n\n // Give the body a shape\n auto ellipsoid = std::make_shared<dart::dynamics::EllipsoidShape>(dims);\n auto ellipsoid_node = body->createShapeNodeWith<dart::dynamics::VisualAspect,\n dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(ellipsoid);\n ellipsoid_node->getVisualAspect()->setColor(color);\n // Set up inertia\n dart::dynamics::Inertia inertia;\n inertia.setMass(mass);\n inertia.setMoment(ellipsoid->computeInertia(mass));\n body->setInertia(inertia);\n\n auto robot = std::make_shared<Robot>(ellipsoid_skel, ellipsoid_name);\n\n // Put the body into position\n if (type == \"free\") // free floating\n robot->set_positions(pose);\n else // fixed\n {\n Eigen::Isometry3d T;\n T.linear() = dart::math::expMapRot(pose.head<3>());\n T.translation() = pose.tail<3>();\n body->getParentJoint()->setTransformFromParentBodyNode(T);\n }\n\n return robot;\n }\n} // namespace robot_dart\nFileList > robot_dart > robot.hpp
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#include <unordered_map>#include <robot_dart/utils.hpp>The documentation for this class was generated from the following file robot_dart/robot.hpp
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#ifndef ROBOT_DART_ROBOT_HPP\n#define ROBOT_DART_ROBOT_HPP\n\n#include <unordered_map>\n\n#include <robot_dart/utils.hpp>\n\nnamespace robot_dart {\n class RobotDARTSimu;\n namespace control {\n class RobotControl;\n }\n\n class Robot : public std::enable_shared_from_this<Robot> {\n public:\n Robot(const std::string& model_file, const std::vector<std::pair<std::string, std::string>>& packages, const std::string& robot_name = \"robot\", bool is_urdf_string = false, bool cast_shadows = true);\n Robot(const std::string& model_file, const std::string& robot_name = \"robot\", bool is_urdf_string = false, bool cast_shadows = true);\n Robot(dart::dynamics::SkeletonPtr skeleton, const std::string& robot_name = \"robot\", bool cast_shadows = true);\n virtual ~Robot() {}\n\n std::shared_ptr<Robot> clone() const;\n std::shared_ptr<Robot> clone_ghost(const std::string& ghost_name = \"ghost\", const Eigen::Vector4d& ghost_color = {0.3, 0.3, 0.3, 0.7}) const;\n\n dart::dynamics::SkeletonPtr skeleton();\n dart::dynamics::BodyNode* body_node(const std::string& body_name);\n dart::dynamics::BodyNode* body_node(size_t body_index);\n\n dart::dynamics::Joint* joint(const std::string& joint_name);\n dart::dynamics::Joint* joint(size_t joint_index);\n\n dart::dynamics::DegreeOfFreedom* dof(const std::string& dof_name);\n dart::dynamics::DegreeOfFreedom* dof(size_t dof_index);\n\n const std::string& name() const;\n // to use the same urdf somewhere else\n const std::string& model_filename() const { return _model_filename; }\n const std::vector<std::pair<std::string, std::string>>& model_packages() const { return _packages; }\n\n void update(double t);\n\n void reinit_controllers();\n\n size_t num_controllers() const;\n std::vector<std::shared_ptr<control::RobotControl>> controllers() const;\n std::vector<std::shared_ptr<control::RobotControl>> active_controllers() const;\n\n std::shared_ptr<control::RobotControl> controller(size_t index) const;\n\n void add_controller(\n const std::shared_ptr<control::RobotControl>& controller, double weight = 1.0);\n void remove_controller(const std::shared_ptr<control::RobotControl>& controller);\n void remove_controller(size_t index);\n void clear_controllers();\n\n void fix_to_world();\n // pose: Orientation-Position\n void free_from_world(const Eigen::Vector6d& pose = Eigen::Vector6d::Zero());\n\n bool fixed() const;\n bool free() const;\n\n virtual void reset();\n\n void clear_external_forces();\n void clear_internal_forces();\n void reset_commands();\n\n // actuator type can be: torque, servo, velocity, passive, locked, mimic (only for completeness, use set_mimic to use this)\n // Be careful that actuator types are per joint and not per DoF\n void set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names = {}, bool override_mimic = false, bool override_base = false);\n void set_actuator_type(const std::string& type, const std::string& joint_name, bool override_mimic = false, bool override_base = false);\n void set_mimic(const std::string& joint_name, const std::string& mimic_joint_name, double multiplier = 1., double offset = 0.);\n\n std::string actuator_type(const std::string& joint_name) const;\n std::vector<std::string> actuator_types(const std::vector<std::string>& joint_names = {}) const;\n\n void set_position_enforced(const std::vector<bool>& enforced, const std::vector<std::string>& dof_names = {});\n void set_position_enforced(bool enforced, const std::vector<std::string>& dof_names = {});\n\n std::vector<bool> position_enforced(const std::vector<std::string>& dof_names = {}) const;\n\n void force_position_bounds();\n\n void set_damping_coeffs(const std::vector<double>& damps, const std::vector<std::string>& dof_names = {});\n void set_damping_coeffs(double damp, const std::vector<std::string>& dof_names = {});\n\n std::vector<double> damping_coeffs(const std::vector<std::string>& dof_names = {}) const;\n\n void set_coulomb_coeffs(const std::vector<double>& cfrictions, const std::vector<std::string>& dof_names = {});\n void set_coulomb_coeffs(double cfriction, const std::vector<std::string>& dof_names = {});\n\n std::vector<double> coulomb_coeffs(const std::vector<std::string>& dof_names = {}) const;\n\n void set_spring_stiffnesses(const std::vector<double>& stiffnesses, const std::vector<std::string>& dof_names = {});\n void set_spring_stiffnesses(double stiffness, const std::vector<std::string>& dof_names = {});\n\n std::vector<double> spring_stiffnesses(const std::vector<std::string>& dof_names = {}) const;\n\n // the friction direction is in local frame\n void set_friction_dir(const std::string& body_name, const Eigen::Vector3d& direction);\n void set_friction_dir(size_t body_index, const Eigen::Vector3d& direction);\n Eigen::Vector3d friction_dir(const std::string& body_name);\n Eigen::Vector3d friction_dir(size_t body_index);\n\n void set_friction_coeff(const std::string& body_name, double value);\n void set_friction_coeff(size_t body_index, double value);\n void set_friction_coeffs(double value);\n double friction_coeff(const std::string& body_name);\n double friction_coeff(size_t body_index);\n\n void set_secondary_friction_coeff(const std::string& body_name, double value);\n void set_secondary_friction_coeff(size_t body_index, double value);\n void set_secondary_friction_coeffs(double value);\n double secondary_friction_coeff(const std::string& body_name);\n double secondary_friction_coeff(size_t body_index);\n\n void set_restitution_coeff(const std::string& body_name, double value);\n void set_restitution_coeff(size_t body_index, double value);\n void set_restitution_coeffs(double value);\n double restitution_coeff(const std::string& body_name);\n double restitution_coeff(size_t body_index);\n\n Eigen::Isometry3d base_pose() const;\n Eigen::Vector6d base_pose_vec() const;\n void set_base_pose(const Eigen::Isometry3d& tf);\n void set_base_pose(const Eigen::Vector6d& pose);\n\n size_t num_dofs() const;\n size_t num_joints() const;\n size_t num_bodies() const;\n\n Eigen::Vector3d com() const;\n Eigen::Vector6d com_velocity() const;\n Eigen::Vector6d com_acceleration() const;\n\n Eigen::VectorXd positions(const std::vector<std::string>& dof_names = {}) const;\n void set_positions(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd position_lower_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_position_lower_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names = {});\n Eigen::VectorXd position_upper_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_position_upper_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd velocities(const std::vector<std::string>& dof_names = {}) const;\n void set_velocities(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd velocity_lower_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_velocity_lower_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names = {});\n Eigen::VectorXd velocity_upper_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_velocity_upper_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd accelerations(const std::vector<std::string>& dof_names = {}) const;\n void set_accelerations(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd acceleration_lower_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_acceleration_lower_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names = {});\n Eigen::VectorXd acceleration_upper_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_acceleration_upper_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd forces(const std::vector<std::string>& dof_names = {}) const;\n void set_forces(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd force_lower_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_force_lower_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names = {});\n Eigen::VectorXd force_upper_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_force_upper_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd commands(const std::vector<std::string>& dof_names = {}) const;\n void set_commands(const Eigen::VectorXd& commands, const std::vector<std::string>& dof_names = {});\n\n std::pair<Eigen::Vector6d, Eigen::Vector6d> force_torque(size_t joint_index) const;\n\n void set_external_force(const std::string& body_name, const Eigen::Vector3d& force, const Eigen::Vector3d& offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n void set_external_force(size_t body_index, const Eigen::Vector3d& force, const Eigen::Vector3d& offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n void add_external_force(const std::string& body_name, const Eigen::Vector3d& force, const Eigen::Vector3d& offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n void add_external_force(size_t body_index, const Eigen::Vector3d& force, const Eigen::Vector3d& offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n\n void set_external_torque(const std::string& body_name, const Eigen::Vector3d& torque, bool local = false);\n void set_external_torque(size_t body_index, const Eigen::Vector3d& torque, bool local = false);\n void add_external_torque(const std::string& body_name, const Eigen::Vector3d& torque, bool local = false);\n void add_external_torque(size_t body_index, const Eigen::Vector3d& torque, bool local = false);\n\n Eigen::Vector6d external_forces(const std::string& body_name) const;\n Eigen::Vector6d external_forces(size_t body_index) const;\n\n Eigen::Isometry3d body_pose(const std::string& body_name) const;\n Eigen::Isometry3d body_pose(size_t body_index) const;\n\n Eigen::Vector6d body_pose_vec(const std::string& body_name) const;\n Eigen::Vector6d body_pose_vec(size_t body_index) const;\n\n Eigen::Vector6d body_velocity(const std::string& body_name) const;\n Eigen::Vector6d body_velocity(size_t body_index) const;\n\n Eigen::Vector6d body_acceleration(const std::string& body_name) const;\n Eigen::Vector6d body_acceleration(size_t body_index) const;\n\n std::vector<std::string> body_names() const;\n std::string body_name(size_t body_index) const;\n void set_body_name(size_t body_index, const std::string& body_name);\n size_t body_index(const std::string& body_name) const;\n\n double body_mass(const std::string& body_name) const;\n double body_mass(size_t body_index) const;\n void set_body_mass(const std::string& body_name, double mass);\n void set_body_mass(size_t body_index, double mass);\n void add_body_mass(const std::string& body_name, double mass);\n void add_body_mass(size_t body_index, double mass);\n\n Eigen::MatrixXd jacobian(const std::string& body_name, const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd jacobian_deriv(const std::string& body_name, const std::vector<std::string>& dof_names = {}) const;\n\n Eigen::MatrixXd com_jacobian(const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd com_jacobian_deriv(const std::vector<std::string>& dof_names = {}) const;\n\n Eigen::MatrixXd mass_matrix(const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd aug_mass_matrix(const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd inv_mass_matrix(const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd inv_aug_mass_matrix(const std::vector<std::string>& dof_names = {}) const;\n\n Eigen::VectorXd coriolis_forces(const std::vector<std::string>& dof_names = {}) const;\n Eigen::VectorXd gravity_forces(const std::vector<std::string>& dof_names = {}) const;\n Eigen::VectorXd coriolis_gravity_forces(const std::vector<std::string>& dof_names = {}) const;\n Eigen::VectorXd constraint_forces(const std::vector<std::string>& dof_names = {}) const;\n\n // Get only the part of vector for DOFs in dof_names\n Eigen::VectorXd vec_dof(const Eigen::VectorXd& vec, const std::vector<std::string>& dof_names) const;\n\n void update_joint_dof_maps();\n const std::unordered_map<std::string, size_t>& dof_map() const;\n const std::unordered_map<std::string, size_t>& joint_map() const;\n\n std::vector<std::string> dof_names(bool filter_mimics = false, bool filter_locked = false, bool filter_passive = false) const;\n std::vector<std::string> mimic_dof_names() const;\n std::vector<std::string> locked_dof_names() const;\n std::vector<std::string> passive_dof_names() const;\n std::string dof_name(size_t dof_index) const;\n size_t dof_index(const std::string& dof_name) const;\n\n std::vector<std::string> joint_names() const;\n std::string joint_name(size_t joint_index) const;\n void set_joint_name(size_t joint_index, const std::string& joint_name);\n size_t joint_index(const std::string& joint_name) const;\n\n // MATERIAL_COLOR, COLOR_INDEX, SHAPE_COLOR\n // This applies only to MeshShapes. Color mode can be: \"material\", \"assimp\", or \"aspect\"\n // \"material\" -> uses the color of the material in the mesh file\n // \"assimp\" -> uses the color specified by aiMesh::mColor\n // \"aspect\" -> uses the color defined in the VisualAspect (if not changed, this is what read from the URDF)\n void set_color_mode(const std::string& color_mode);\n void set_color_mode(const std::string& color_mode, const std::string& body_name);\n\n void set_self_collision(bool enable_self_collisions = true, bool enable_adjacent_collisions = false);\n bool self_colliding() const;\n // This returns true if self colliding AND adjacent checks are on\n bool adjacent_colliding() const;\n\n // GUI options\n void set_cast_shadows(bool cast_shadows = true);\n bool cast_shadows() const;\n\n void set_ghost(bool ghost = true);\n bool ghost() const;\n\n void set_draw_axis(const std::string& body_name, double size = 0.25);\n void remove_all_drawing_axis();\n const std::vector<std::pair<dart::dynamics::BodyNode*, double>>& drawing_axes() const;\n\n // helper functions\n static std::shared_ptr<Robot> create_box(const Eigen::Vector3d& dims,\n const Eigen::Isometry3d& tf, const std::string& type = \"free\",\n double mass = 1.0, const Eigen::Vector4d& color = dart::Color::Red(1.0),\n const std::string& box_name = \"box\");\n // pose: 6D log_map\n static std::shared_ptr<Robot> create_box(const Eigen::Vector3d& dims,\n const Eigen::Vector6d& pose = Eigen::Vector6d::Zero(), const std::string& type = \"free\",\n double mass = 1.0, const Eigen::Vector4d& color = dart::Color::Red(1.0),\n const std::string& box_name = \"box\");\n\n static std::shared_ptr<Robot> create_ellipsoid(const Eigen::Vector3d& dims,\n const Eigen::Isometry3d& tf, const std::string& type = \"free\",\n double mass = 1.0, const Eigen::Vector4d& color = dart::Color::Red(1.0),\n const std::string& ellipsoid_name = \"ellipsoid\");\n // pose: 6D log_map\n static std::shared_ptr<Robot> create_ellipsoid(const Eigen::Vector3d& dims,\n const Eigen::Vector6d& pose = Eigen::Vector6d::Zero(), const std::string& type = \"free\",\n double mass = 1.0, const Eigen::Vector4d& color = dart::Color::Red(1.0),\n const std::string& ellipsoid_name = \"ellipsoid\");\n\n protected:\n std::string _get_path(const std::string& filename) const;\n dart::dynamics::SkeletonPtr _load_model(const std::string& filename, const std::vector<std::pair<std::string, std::string>>& packages = std::vector<std::pair<std::string, std::string>>(), bool is_urdf_string = false);\n\n void _set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel);\n void _set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode* sn);\n void _set_actuator_type(size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic = false, bool override_base = false);\n void _set_actuator_types(const std::vector<dart::dynamics::Joint::ActuatorType>& types, bool override_mimic = false, bool override_base = false);\n void _set_actuator_types(dart::dynamics::Joint::ActuatorType type, bool override_mimic = false, bool override_base = false);\n\n dart::dynamics::Joint::ActuatorType _actuator_type(size_t joint_index) const;\n std::vector<dart::dynamics::Joint::ActuatorType> _actuator_types() const;\n\n Eigen::MatrixXd _jacobian(const Eigen::MatrixXd& full_jacobian, const std::vector<std::string>& dof_names) const;\n Eigen::MatrixXd _mass_matrix(const Eigen::MatrixXd& full_mass_matrix, const std::vector<std::string>& dof_names) const;\n\n virtual void _post_addition(RobotDARTSimu*) {}\n virtual void _post_removal(RobotDARTSimu*) {}\n\n friend class RobotDARTSimu;\n\n std::string _robot_name;\n std::string _model_filename;\n std::vector<std::pair<std::string, std::string>> _packages;\n dart::dynamics::SkeletonPtr _skeleton;\n std::vector<std::shared_ptr<control::RobotControl>> _controllers;\n std::unordered_map<std::string, size_t> _dof_map, _joint_map;\n bool _cast_shadows;\n bool _is_ghost;\n std::vector<std::pair<dart::dynamics::BodyNode*, double>> _axis_shapes;\n };\n} // namespace robot_dart\n\n#endif\nFileList > control
"},{"location":"api/dir_1a1ccbdd0954eb7721b1a771872472c9/#files","title":"Files","text":"Type Name file pd_control.cpp file pd_control.hpp file policy_control.hpp file robot_control.cpp file robot_control.hpp file simple_control.cpp file simple_control.hppThe documentation for this class was generated from the following file robot_dart/control/
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#include \"pd_control.hpp\"#include \"robot_dart/robot.hpp\"#include \"robot_dart/utils.hpp\"#include \"robot_dart/utils_headers_dart_dynamics.hpp\"The documentation for this class was generated from the following file robot_dart/control/pd_control.cpp
File List > control > pd_control.cpp
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#include \"pd_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n namespace control {\n PDControl::PDControl() : RobotControl() {}\n PDControl::PDControl(const Eigen::VectorXd& ctrl, bool full_control, bool use_angular_errors) : RobotControl(ctrl, full_control), _use_angular_errors(use_angular_errors) {}\n PDControl::PDControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs, bool use_angular_errors) : RobotControl(ctrl, controllable_dofs), _use_angular_errors(use_angular_errors) {}\n\n void PDControl::configure()\n {\n if (_ctrl.size() == _control_dof)\n _active = true;\n\n if (_Kp.size() == 0)\n set_pd(10., 0.1);\n }\n\n Eigen::VectorXd PDControl::calculate(double)\n {\n ROBOT_DART_ASSERT(_control_dof == _ctrl.size(), \"PDControl: Controller parameters size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n auto robot = _robot.lock();\n\n Eigen::VectorXd dq = robot->velocities(_controllable_dofs);\n\n Eigen::VectorXd error;\n if (!_use_angular_errors) {\n Eigen::VectorXd q = robot->positions(_controllable_dofs);\n error = _ctrl - q;\n }\n else {\n error = Eigen::VectorXd::Zero(_control_dof);\n\n std::unordered_map<size_t, Eigen::VectorXd> joint_vals, joint_desired, errors;\n\n for (int i = 0; i < _control_dof; ++i) {\n auto dof = robot->dof(_controllable_dofs[i]);\n size_t joint_index = dof->getJoint()->getJointIndexInSkeleton();\n if (joint_vals.find(joint_index) == joint_vals.end()) {\n joint_vals[joint_index] = dof->getJoint()->getPositions();\n joint_desired[joint_index] = dof->getJoint()->getPositions();\n }\n\n joint_desired[joint_index][dof->getIndexInJoint()] = _ctrl[i];\n }\n\n for (int i = 0; i < _control_dof; ++i) {\n auto dof = robot->dof(_controllable_dofs[i]);\n size_t joint_index = dof->getJoint()->getJointIndexInSkeleton();\n size_t dof_index_in_joint = dof->getIndexInJoint();\n\n Eigen::VectorXd val;\n if (errors.find(joint_index) == errors.end()) {\n val = Eigen::VectorXd(dof->getJoint()->getNumDofs());\n\n std::string joint_type = robot->dof(_controllable_dofs[i])->getJoint()->getType();\n if (joint_type == dart::dynamics::RevoluteJoint::getStaticType()) {\n val[dof_index_in_joint] = _angle_dist(_ctrl[i], joint_vals[joint_index][dof_index_in_joint]);\n }\n else if (joint_type == dart::dynamics::BallJoint::getStaticType()) {\n Eigen::Matrix3d R_desired = dart::math::expMapRot(joint_desired[joint_index]);\n Eigen::Matrix3d R_current = dart::math::expMapRot(joint_vals[joint_index]);\n val = dart::math::logMap(R_desired * R_current.transpose());\n }\n else if (joint_type == dart::dynamics::EulerJoint::getStaticType()) {\n // TO-DO: Check if this is 100% correct\n for (size_t d = 0; d < dof->getJoint()->getNumDofs(); d++)\n val[d] = _angle_dist(joint_desired[joint_index][d], joint_vals[joint_index][d]);\n }\n else if (joint_type == dart::dynamics::FreeJoint::getStaticType()) {\n auto free_joint = static_cast<dart::dynamics::FreeJoint*>(dof->getJoint());\n\n Eigen::Isometry3d tf_desired = free_joint->convertToTransform(joint_desired[joint_index]);\n Eigen::Isometry3d tf_current = free_joint->convertToTransform(joint_vals[joint_index]);\n\n val.tail(3) = tf_desired.translation() - tf_current.translation();\n val.head(3) = dart::math::logMap(tf_desired.linear().matrix() * tf_current.linear().matrix().transpose());\n }\n else {\n val[dof_index_in_joint] = _ctrl[i] - joint_vals[joint_index][dof_index_in_joint];\n }\n\n errors[joint_index] = val;\n }\n else\n val = errors[joint_index];\n error(i) = val[dof_index_in_joint];\n }\n }\n\n Eigen::VectorXd commands = _Kp.array() * error.array() - _Kd.array() * dq.array();\n\n return commands;\n }\n\n void PDControl::set_pd(double Kp, double Kd)\n {\n _Kp = Eigen::VectorXd::Constant(_control_dof, Kp);\n _Kd = Eigen::VectorXd::Constant(_control_dof, Kd);\n }\n\n void PDControl::set_pd(const Eigen::VectorXd& Kp, const Eigen::VectorXd& Kd)\n {\n ROBOT_DART_ASSERT(Kp.size() == _control_dof, \"PDControl: The Kp size is not the same as the DOFs!\", );\n ROBOT_DART_ASSERT(Kd.size() == _control_dof, \"PDControl: The Kd size is not the same as the DOFs!\", );\n _Kp = Kp;\n _Kd = Kd;\n }\n\n std::pair<Eigen::VectorXd, Eigen::VectorXd> PDControl::pd() const\n {\n return std::make_pair(_Kp, _Kd);\n }\n\n bool PDControl::using_angular_errors() const { return _use_angular_errors; }\n\n void PDControl::set_use_angular_errors(bool enable) { _use_angular_errors = enable; }\n\n std::shared_ptr<RobotControl> PDControl::clone() const\n {\n return std::make_shared<PDControl>(*this);\n }\n\n double PDControl::_angle_dist(double target, double current)\n {\n double theta = target - current;\n while (theta < -M_PI)\n theta += 2 * M_PI;\n while (theta > M_PI)\n theta -= 2 * M_PI;\n return theta;\n }\n } // namespace control\n} // namespace robot_dart\nFileList > control > pd_control.hpp
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#include <utility>#include <robot_dart/control/robot_control.hpp>#include <robot_dart/robot.hpp>The documentation for this class was generated from the following file robot_dart/control/pd_control.hpp
File List > control > pd_control.hpp
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#ifndef ROBOT_DART_CONTROL_PD_CONTROL\n#define ROBOT_DART_CONTROL_PD_CONTROL\n\n#include <utility>\n\n#include <robot_dart/control/robot_control.hpp>\n#include <robot_dart/robot.hpp>\n\nnamespace robot_dart {\n namespace control {\n\n class PDControl : public RobotControl {\n public:\n PDControl();\n PDControl(const Eigen::VectorXd& ctrl, bool full_control = false, bool use_angular_errors = true);\n PDControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs, bool use_angular_errors = true);\n\n void configure() override;\n Eigen::VectorXd calculate(double) override;\n\n void set_pd(double p, double d);\n void set_pd(const Eigen::VectorXd& p, const Eigen::VectorXd& d);\n\n std::pair<Eigen::VectorXd, Eigen::VectorXd> pd() const;\n\n bool using_angular_errors() const;\n void set_use_angular_errors(bool enable = true);\n\n std::shared_ptr<RobotControl> clone() const override;\n\n protected:\n Eigen::VectorXd _Kp;\n Eigen::VectorXd _Kd;\n bool _use_angular_errors;\n\n static double _angle_dist(double target, double current);\n };\n } // namespace control\n} // namespace robot_dart\n#endif\nFileList > control > policy_control.hpp
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#include <robot_dart/control/robot_control.hpp>#include <robot_dart/robot.hpp>The documentation for this class was generated from the following file robot_dart/control/policy_control.hpp
File List > control > policy_control.hpp
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#ifndef ROBOT_DART_CONTROL_POLICY_CONTROL\n#define ROBOT_DART_CONTROL_POLICY_CONTROL\n\n#include <robot_dart/control/robot_control.hpp>\n#include <robot_dart/robot.hpp>\n\nnamespace robot_dart {\n namespace control {\n\n template <typename Policy>\n class PolicyControl : public RobotControl {\n public:\n PolicyControl() : RobotControl() {}\n PolicyControl(double dt, const Eigen::VectorXd& ctrl, bool full_control = false) : RobotControl(ctrl, full_control), _dt(dt), _first(true), _full_dt(false) {}\n PolicyControl(const Eigen::VectorXd& ctrl, bool full_control = false) : RobotControl(ctrl, full_control), _dt(0.), _first(true), _full_dt(true) {}\n PolicyControl(double dt, const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs) : RobotControl(ctrl, controllable_dofs), _dt(dt), _first(true), _full_dt(false) {}\n PolicyControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs) : RobotControl(ctrl, controllable_dofs), _dt(0.), _first(true), _full_dt(true) {}\n\n void configure() override\n {\n _policy.set_params(_ctrl);\n if (_policy.output_size() == _control_dof)\n _active = true;\n else\n ROBOT_DART_WARNING(_policy.output_size() != _control_dof, \"Control DoF != Policy output size. Policy is not active.\");\n auto robot = _robot.lock();\n if (_full_dt)\n _dt = robot->skeleton()->getTimeStep();\n _first = true;\n _i = 0;\n _threshold = -robot->skeleton()->getTimeStep() * 0.5;\n }\n\n void set_h_params(const Eigen::VectorXd& h_params)\n {\n _policy.set_h_params(h_params);\n }\n\n Eigen::VectorXd h_params() const\n {\n return _policy.h_params();\n }\n\n Eigen::VectorXd calculate(double t) override\n {\n ROBOT_DART_ASSERT(_control_dof == _policy.output_size(), \"PolicyControl: Policy output size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n if (_first || _full_dt || (t - _prev_time - _dt) >= _threshold) {\n _prev_commands = _policy.query(_robot.lock(), t);\n\n _first = false;\n _prev_time = t;\n _i++;\n }\n\n return _prev_commands;\n }\n\n std::shared_ptr<RobotControl> clone() const override\n {\n return std::make_shared<PolicyControl>(*this);\n }\n\n protected:\n int _i;\n Policy _policy;\n double _dt, _prev_time, _threshold;\n Eigen::VectorXd _prev_commands;\n bool _first, _full_dt;\n };\n } // namespace control\n} // namespace robot_dart\n\n#endif\nFileList > control > robot_control.cpp
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#include \"robot_control.hpp\"#include \"robot_dart/robot.hpp\"#include \"robot_dart/utils.hpp\"#include \"robot_dart/utils_headers_dart_dynamics.hpp\"The documentation for this class was generated from the following file robot_dart/control/robot_control.cpp
File List > control > robot_control.cpp
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#include \"robot_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n namespace control {\n RobotControl::RobotControl() : _weight(1.), _active(false), _check_free(true) {}\n RobotControl::RobotControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs) : _ctrl(ctrl), _weight(1.), _active(false), _check_free(false), _controllable_dofs(controllable_dofs) {}\n RobotControl::RobotControl(const Eigen::VectorXd& ctrl, bool full_control) : _ctrl(ctrl), _weight(1.), _active(false), _check_free(!full_control) {}\n\n void RobotControl::set_parameters(const Eigen::VectorXd& ctrl)\n {\n _ctrl = ctrl;\n _active = false;\n init();\n }\n\n const Eigen::VectorXd& RobotControl::parameters() const\n {\n return _ctrl;\n }\n\n void RobotControl::init()\n {\n ROBOT_DART_ASSERT(_robot.use_count() > 0, \"RobotControl: parent robot should be initialized; use set_robot()\", );\n auto robot = _robot.lock();\n _dof = robot->skeleton()->getNumDofs();\n\n if (_check_free && robot->free()) {\n auto names = robot->dof_names(true, true, true);\n _controllable_dofs = std::vector<std::string>(names.begin() + 6, names.end());\n }\n else if (_controllable_dofs.empty()) {\n // we cannot control mimic, locked and passive joints\n _controllable_dofs = robot->dof_names(true, true, true);\n }\n\n _control_dof = _controllable_dofs.size();\n\n configure();\n }\n\n void RobotControl::set_robot(const std::shared_ptr<Robot>& robot)\n {\n _robot = robot;\n }\n\n std::shared_ptr<Robot> RobotControl::robot() const\n {\n return _robot.lock();\n }\n\n void RobotControl::activate(bool enable)\n {\n _active = false;\n if (enable) {\n init();\n }\n }\n\n bool RobotControl::active() const\n {\n return _active;\n }\n\n const std::vector<std::string>& RobotControl::controllable_dofs() const { return _controllable_dofs; }\n\n double RobotControl::weight() const\n {\n return _weight;\n }\n\n void RobotControl::set_weight(double weight)\n {\n _weight = weight;\n }\n } // namespace control\n} // namespace robot_dart\nFileList > control > robot_control.hpp
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#include <robot_dart/utils.hpp>#include <memory>#include <vector>The documentation for this class was generated from the following file robot_dart/control/robot_control.hpp
File List > control > robot_control.hpp
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#ifndef ROBOT_DART_CONTROL_ROBOT_CONTROL\n#define ROBOT_DART_CONTROL_ROBOT_CONTROL\n\n#include <robot_dart/utils.hpp>\n\n#include <memory>\n#include <vector>\n\nnamespace robot_dart {\n class Robot;\n\n namespace control {\n\n class RobotControl {\n public:\n RobotControl();\n RobotControl(const Eigen::VectorXd& ctrl, bool full_control = false);\n RobotControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs);\n virtual ~RobotControl() {}\n\n void set_parameters(const Eigen::VectorXd& ctrl);\n const Eigen::VectorXd& parameters() const;\n\n void init();\n\n void set_robot(const std::shared_ptr<Robot>& robot);\n std::shared_ptr<Robot> robot() const;\n\n void activate(bool enable = true);\n bool active() const;\n\n const std::vector<std::string>& controllable_dofs() const;\n\n double weight() const;\n void set_weight(double weight);\n\n virtual void configure() = 0;\n // TO-DO: Maybe make this const?\n virtual Eigen::VectorXd calculate(double t) = 0;\n virtual std::shared_ptr<RobotControl> clone() const = 0;\n\n protected:\n std::weak_ptr<Robot> _robot;\n Eigen::VectorXd _ctrl;\n double _weight;\n bool _active, _check_free = false;\n int _dof, _control_dof;\n std::vector<std::string> _controllable_dofs;\n };\n } // namespace control\n} // namespace robot_dart\n\n#endif\nFileList > control > simple_control.cpp
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#include \"simple_control.hpp\"#include \"robot_dart/robot.hpp\"#include \"robot_dart/utils.hpp\"The documentation for this class was generated from the following file robot_dart/control/simple_control.cpp
File List > control > simple_control.cpp
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#include \"simple_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n\nnamespace robot_dart {\n namespace control {\n SimpleControl::SimpleControl() : RobotControl() {}\n SimpleControl::SimpleControl(const Eigen::VectorXd& ctrl, bool full_control) : RobotControl(ctrl, full_control) {}\n SimpleControl::SimpleControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs) : RobotControl(ctrl, controllable_dofs) {}\n\n void SimpleControl::configure()\n {\n if (_ctrl.size() == _control_dof)\n _active = true;\n }\n\n Eigen::VectorXd SimpleControl::calculate(double)\n {\n ROBOT_DART_ASSERT(_control_dof == _ctrl.size(), \"SimpleControl: Controller parameters size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n return _ctrl;\n }\n\n std::shared_ptr<RobotControl> SimpleControl::clone() const\n {\n return std::make_shared<SimpleControl>(*this);\n }\n } // namespace control\n} // namespace robot_dart\nFileList > control > simple_control.hpp
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#include <robot_dart/control/robot_control.hpp>The documentation for this class was generated from the following file robot_dart/control/simple_control.hpp
File List > control > simple_control.hpp
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#ifndef ROBOT_DART_CONTROL_SIMPLE_CONTROL\n#define ROBOT_DART_CONTROL_SIMPLE_CONTROL\n\n#include <robot_dart/control/robot_control.hpp>\n\nnamespace robot_dart {\n namespace control {\n\n class SimpleControl : public RobotControl {\n public:\n SimpleControl();\n SimpleControl(const Eigen::VectorXd& ctrl, bool full_control = false);\n SimpleControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs);\n\n void configure() override;\n Eigen::VectorXd calculate(double) override;\n std::shared_ptr<RobotControl> clone() const override;\n };\n } // namespace control\n} // namespace robot_dart\n\n#endif\nFileList > gui
"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/#files","title":"Files","text":"Type Name file base.hpp file helper.cpp file helper.hpp file stb_image_write.h"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/#directories","title":"Directories","text":"Type Name dir magnumThe documentation for this class was generated from the following file robot_dart/gui/
FileList > gui > base.hpp
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#include <robot_dart/gui/helper.hpp>The documentation for this class was generated from the following file robot_dart/gui/base.hpp
File List > gui > base.hpp
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#ifndef ROBOT_DART_GUI_BASE_HPP\n#define ROBOT_DART_GUI_BASE_HPP\n\n#include <robot_dart/gui/helper.hpp>\n\nnamespace robot_dart {\n class RobotDARTSimu;\n\n namespace gui {\n class Base {\n public:\n Base() {}\n\n virtual ~Base() {}\n\n virtual void set_simu(RobotDARTSimu* simu) { _simu = simu; }\n const RobotDARTSimu* simu() const { return _simu; }\n\n virtual bool done() const { return false; }\n\n virtual void refresh() {}\n\n virtual void set_render_period(double) {}\n\n virtual void set_enable(bool) {}\n virtual void set_fps(int) {}\n\n virtual Image image() { return Image(); }\n virtual GrayscaleImage depth_image() { return GrayscaleImage(); }\n virtual GrayscaleImage raw_depth_image() { return GrayscaleImage(); }\n virtual DepthImage depth_array() { return DepthImage(); }\n\n virtual size_t width() const { return 0; }\n virtual size_t height() const { return 0; }\n\n protected:\n RobotDARTSimu* _simu = nullptr;\n };\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > helper.cpp
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#include \"helper.hpp\"#include \"stb_image_write.h\"#define STB_IMAGE_WRITE_IMPLEMENTATION \nThe documentation for this class was generated from the following file robot_dart/gui/helper.cpp
File List > gui > helper.cpp
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#include \"helper.hpp\"\n\n#define STB_IMAGE_WRITE_IMPLEMENTATION\n#include \"stb_image_write.h\"\n\nnamespace robot_dart {\n namespace gui {\n void save_png_image(const std::string& filename, const Image& rgb)\n {\n auto ends_with = [](const std::string& value, const std::string& ending) {\n if (ending.size() > value.size())\n return false;\n return std::equal(ending.rbegin(), ending.rend(), value.rbegin());\n };\n\n std::string png = \".png\";\n if (ends_with(filename, png))\n png = \"\";\n\n stbi_write_png((filename + png).c_str(), rgb.width, rgb.height, rgb.channels, rgb.data.data(), rgb.width * rgb.channels);\n }\n\n void save_png_image(const std::string& filename, const GrayscaleImage& gray)\n {\n auto ends_with = [](const std::string& value, const std::string& ending) {\n if (ending.size() > value.size())\n return false;\n return std::equal(ending.rbegin(), ending.rend(), value.rbegin());\n };\n\n std::string png = \".png\";\n if (ends_with(filename, png))\n png = \"\";\n\n stbi_write_png((filename + png).c_str(), gray.width, gray.height, 1, gray.data.data(), gray.width);\n }\n\n GrayscaleImage convert_rgb_to_grayscale(const Image& rgb)\n {\n assert(rgb.channels == 3);\n size_t width = rgb.width;\n size_t height = rgb.height;\n\n GrayscaleImage gray;\n gray.width = width;\n gray.height = height;\n gray.data.resize(width * height);\n\n for (size_t h = 0; h < height; h++) {\n for (size_t w = 0; w < width; w++) {\n int id = w + h * width;\n int id_rgb = w * rgb.channels + h * (width * rgb.channels);\n uint8_t color = 0.3 * rgb.data[id_rgb + 0] + 0.59 * rgb.data[id_rgb + 1] + 0.11 * rgb.data[id_rgb + 2];\n gray.data[id] = color;\n }\n }\n\n return gray;\n }\n\n std::vector<Eigen::Vector3d> point_cloud_from_depth_array(const DepthImage& depth_image, const Eigen::Matrix3d& intrinsic_matrix, const Eigen::Matrix4d& tf, double far_plane)\n {\n // This is assuming that K is normal intrisinc matrix (i.e., camera pointing to +Z),\n // but an OpenGL camera (i.e., pointing to -Z). Thus it transforms the points accordingly\n // TO-DO: Format the intrinsic matrix correctly, and take as an argument the camera orientation\n // with respect to the normal cameras. See http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/.\n auto point_3d = [](const Eigen::Matrix3d& K, size_t u, size_t v, double depth) {\n double fx = K(0, 0);\n double fy = K(1, 1);\n double cx = K(0, 2);\n double cy = K(1, 2);\n double gamma = K(0, 1);\n\n Eigen::Vector3d p;\n p << 0., 0., -depth;\n\n p(1) = (cy - v) * depth / fy;\n p(0) = -((cx - u) * depth - gamma * p(1)) / fx;\n\n return p;\n };\n\n std::vector<Eigen::Vector3d> point_cloud;\n\n size_t height = depth_image.height;\n size_t width = depth_image.width;\n for (size_t h = 0; h < height; h++) {\n for (size_t w = 0; w < width; w++) {\n int id = w + h * width;\n if (depth_image.data[id] >= 0.99 * far_plane) // close to far plane\n continue;\n Eigen::Vector4d pp;\n pp.head(3) = point_3d(intrinsic_matrix, w, h, depth_image.data[id]);\n pp.tail(1) << 1.;\n pp = tf.inverse() * pp;\n\n point_cloud.push_back(pp.head(3));\n }\n }\n\n return point_cloud;\n }\n } // namespace gui\n} // namespace robot_dart\nFileList > gui > helper.hpp
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#include <string>#include <vector>#include <robot_dart/utils.hpp>The documentation for this class was generated from the following file robot_dart/gui/helper.hpp
File List > gui > helper.hpp
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#ifndef ROBOT_DART_GUI_HELPER_HPP\n#define ROBOT_DART_GUI_HELPER_HPP\n\n#include <string>\n#include <vector>\n\n#include <robot_dart/utils.hpp>\n\nnamespace robot_dart {\n namespace gui {\n struct Image {\n size_t width = 0, height = 0;\n size_t channels = 3;\n std::vector<uint8_t> data;\n };\n\n struct GrayscaleImage {\n size_t width = 0, height = 0;\n std::vector<uint8_t> data;\n };\n\n struct DepthImage {\n size_t width = 0, height = 0;\n std::vector<double> data;\n };\n\n void save_png_image(const std::string& filename, const Image& rgb);\n void save_png_image(const std::string& filename, const GrayscaleImage& gray);\n\n GrayscaleImage convert_rgb_to_grayscale(const Image& rgb);\n\n std::vector<Eigen::Vector3d> point_cloud_from_depth_array(const DepthImage& depth_image, const Eigen::Matrix3d& intrinsic_matrix, const Eigen::Matrix4d& tf, double far_plane = 1000.);\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum
"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/#files","title":"Files","text":"Type Name file base_application.cpp file base_application.hpp file base_graphics.hpp file drawables.cpp file drawables.hpp file glfw_application.cpp file glfw_application.hpp file graphics.cpp file graphics.hpp file types.hpp file utils_headers_eigen.hpp file windowless_gl_application.cpp file windowless_gl_application.hpp file windowless_graphics.cpp file windowless_graphics.hpp"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/#directories","title":"Directories","text":"Type Name dir gs dir sensorThe documentation for this class was generated from the following file robot_dart/gui/magnum/
FileList > gui > magnum > base_application.cpp
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#include \"base_application.hpp\"#include <robot_dart/gui/magnum/gs/helper.hpp>#include <robot_dart/robot_dart_simu.hpp>#include <robot_dart/utils.hpp>#include <robot_dart/utils_headers_dart_dynamics.hpp>#include <Corrade/Containers/StridedArrayView.h>#include <Corrade/Utility/Resource.h>#include <Magnum/GL/CubeMapTexture.h>#include <Magnum/GL/DefaultFramebuffer.h>#include <Magnum/GL/Renderer.h>#include <Magnum/GL/Texture.h>#include <Magnum/GL/TextureFormat.h>#include <Magnum/MeshTools/Compile.h>#include <Magnum/MeshTools/CompressIndices.h>#include <Magnum/MeshTools/Interleave.h>#include <Magnum/Primitives/Axis.h>#include <Magnum/Primitives/Square.h>#include <Magnum/Trade/MeshData.h>#include <Magnum/Trade/PhongMaterialData.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.cpp
File: api/base__application_8cpp_source.md
Line 88 in Markdown file: Expected an expression, got 'end of print statement'
_gl_contexts.emplace_back(Magnum::Platform::WindowlessGLContext{{}});\nFileList > gui > magnum > base_application.hpp
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#include <mutex>#include <unistd.h>#include <unordered_map>#include <robot_dart/gui/helper.hpp>#include <robot_dart/gui/magnum/drawables.hpp>#include <robot_dart/gui/magnum/gs/camera.hpp>#include <robot_dart/gui/magnum/gs/cube_map.hpp>#include <robot_dart/gui/magnum/gs/cube_map_color.hpp>#include <robot_dart/gui/magnum/gs/phong_multi_light.hpp>#include <robot_dart/gui/magnum/gs/shadow_map.hpp>#include <robot_dart/gui/magnum/gs/shadow_map_color.hpp>#include <robot_dart/gui/magnum/types.hpp>#include <robot_dart/utils_headers_external_gui.hpp>#include <Magnum/GL/CubeMapTextureArray.h>#include <Magnum/GL/Framebuffer.h>#include <Magnum/GL/Mesh.h>#include <Magnum/GL/TextureArray.h>#include <Magnum/Platform/GLContext.h>#include <Magnum/Platform/WindowlessEglApplication.h>#include <Magnum/Shaders/DistanceFieldVector.h>#include <Magnum/Shaders/Flat.h>#include <Magnum/Shaders/VertexColor.h>#include <Magnum/Text/AbstractFont.h>#include <Magnum/Text/DistanceFieldGlyphCache.h>#include <Magnum/Text/Renderer.h>#define get_gl_context (\n name\n) get_gl_context_with_sleep(name, 0)\n#define get_gl_context_with_sleep (\n name,\n ms_sleep\n) /* Create/Get GLContext */ \\\n Corrade::Utility::Debug name##_magnum_silence_output{nullptr}; \\\n Magnum::Platform::WindowlessGLContext* name = nullptr; \\\n while (name == nullptr) { \\\n name = robot_dart::gui::magnum::GlobalData::instance()->gl_context(); \\\n /* Sleep for some ms */ \\\n usleep(ms_sleep * 1000); \\\n } \\\n while (!name->makeCurrent()) { \\\n /* Sleep for some ms */ \\\n usleep(ms_sleep * 1000); \\\n } \\\n \\\n Magnum::Platform::GLContext name##_magnum_context;\n#define release_gl_context (\n name\n) robot_dart::gui::magnum::GlobalData::instance()->free_gl_context(name);\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
File List > gui > magnum > base_application.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_BASE_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_BASE_APPLICATION_HPP\n\n#include <mutex>\n#include <unistd.h>\n#include <unordered_map>\n\n#include <robot_dart/gui/helper.hpp>\n#include <robot_dart/gui/magnum/drawables.hpp>\n#include <robot_dart/gui/magnum/gs/camera.hpp>\n#include <robot_dart/gui/magnum/gs/cube_map.hpp>\n#include <robot_dart/gui/magnum/gs/cube_map_color.hpp>\n#include <robot_dart/gui/magnum/gs/phong_multi_light.hpp>\n#include <robot_dart/gui/magnum/gs/shadow_map.hpp>\n#include <robot_dart/gui/magnum/gs/shadow_map_color.hpp>\n#include <robot_dart/gui/magnum/types.hpp>\n\n#include <robot_dart/utils_headers_external_gui.hpp>\n\n#include <Magnum/GL/CubeMapTextureArray.h>\n#include <Magnum/GL/Framebuffer.h>\n#include <Magnum/GL/Mesh.h>\n#include <Magnum/GL/TextureArray.h>\n#include <Magnum/Platform/GLContext.h>\n#ifndef MAGNUM_MAC_OSX\n#include <Magnum/Platform/WindowlessEglApplication.h>\n#else\n#include <Magnum/Platform/WindowlessCglApplication.h>\n#endif\n#include <Magnum/Shaders/DistanceFieldVector.h>\n#include <Magnum/Shaders/Flat.h>\n#include <Magnum/Shaders/VertexColor.h>\n\n#include <Magnum/Text/AbstractFont.h>\n#include <Magnum/Text/DistanceFieldGlyphCache.h>\n#include <Magnum/Text/Renderer.h>\n\n#define get_gl_context_with_sleep(name, ms_sleep) \\\n /* Create/Get GLContext */ \\\n Corrade::Utility::Debug name##_magnum_silence_output{nullptr}; \\\n Magnum::Platform::WindowlessGLContext* name = nullptr; \\\n while (name == nullptr) { \\\n name = robot_dart::gui::magnum::GlobalData::instance()->gl_context(); \\\n /* Sleep for some ms */ \\\n usleep(ms_sleep * 1000); \\\n } \\\n while (!name->makeCurrent()) { \\\n /* Sleep for some ms */ \\\n usleep(ms_sleep * 1000); \\\n } \\\n \\\n Magnum::Platform::GLContext name##_magnum_context;\n\n#define get_gl_context(name) get_gl_context_with_sleep(name, 0)\n\n#define release_gl_context(name) robot_dart::gui::magnum::GlobalData::instance()->free_gl_context(name);\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n struct GlobalData {\n public:\n static GlobalData* instance()\n {\n static GlobalData gdata;\n return &gdata;\n }\n\n GlobalData(const GlobalData&) = delete;\n void operator=(const GlobalData&) = delete;\n\n Magnum::Platform::WindowlessGLContext* gl_context();\n void free_gl_context(Magnum::Platform::WindowlessGLContext* context);\n\n /* You should call this before starting to draw or after finished */\n void set_max_contexts(size_t N);\n\n private:\n GlobalData() = default;\n ~GlobalData() = default;\n\n void _create_contexts();\n\n std::vector<Magnum::Platform::WindowlessGLContext> _gl_contexts;\n std::vector<bool> _used;\n std::mutex _context_mutex;\n size_t _max_contexts = 4;\n };\n\n struct GraphicsConfiguration {\n // General\n size_t width = 640;\n size_t height = 480;\n std::string title = \"DART\";\n\n // Shadows\n bool shadowed = true;\n bool transparent_shadows = true;\n size_t shadow_map_size = 1024;\n\n // Lights\n size_t max_lights = 3;\n double specular_strength = 0.25; // strength of the specular component\n\n // These options are only for the main camera\n bool draw_main_camera = true;\n bool draw_debug = true;\n bool draw_text = true;\n\n // Background (default = black)\n Eigen::Vector4d bg_color{0.0, 0.0, 0.0, 1.0};\n };\n\n struct DebugDrawData {\n Magnum::Shaders::VertexColorGL3D* axes_shader;\n Magnum::GL::Mesh* axes_mesh;\n Magnum::Shaders::FlatGL2D* background_shader;\n Magnum::GL::Mesh* background_mesh;\n\n Magnum::Shaders::DistanceFieldVectorGL2D* text_shader;\n Magnum::GL::Buffer* text_vertices;\n Magnum::GL::Buffer* text_indices;\n Magnum::Text::AbstractFont* font;\n Magnum::Text::DistanceFieldGlyphCache* cache;\n };\n\n class BaseApplication {\n public:\n BaseApplication(const GraphicsConfiguration& configuration = GraphicsConfiguration());\n virtual ~BaseApplication() {}\n\n void init(RobotDARTSimu* simu, const GraphicsConfiguration& configuration);\n\n void clear_lights();\n void add_light(const gs::Light& light);\n gs::Light& light(size_t i);\n std::vector<gs::Light>& lights();\n size_t num_lights() const;\n\n Magnum::SceneGraph::DrawableGroup3D& drawables() { return _drawables; }\n Scene3D& scene() { return _scene; }\n gs::Camera& camera() { return *_camera; }\n const gs::Camera& camera() const { return *_camera; }\n\n bool done() const;\n\n void look_at(const Eigen::Vector3d& camera_pos,\n const Eigen::Vector3d& look_at,\n const Eigen::Vector3d& up);\n\n virtual void render() {}\n\n void update_lights(const gs::Camera& camera);\n void update_graphics();\n void render_shadows();\n\n bool attach_camera(gs::Camera& camera, dart::dynamics::BodyNode* body);\n\n // video (FPS is mandatory here, see the Graphics class for automatic computation)\n void record_video(const std::string& video_fname, int fps) { _camera->record_video(video_fname, fps); }\n\n bool shadowed() const { return _shadowed; }\n bool transparent_shadows() const { return _transparent_shadows; }\n void enable_shadows(bool enable = true, bool drawTransparentShadows = false);\n\n Corrade::Containers::Optional<Magnum::Image2D>& image() { return _camera->image(); }\n\n // This is for visualization purposes\n GrayscaleImage depth_image();\n\n // Image filled with depth buffer values\n GrayscaleImage raw_depth_image();\n\n // \"Image\" filled with depth buffer values (this returns an array of doubles)\n DepthImage depth_array();\n\n // Access to debug data\n DebugDrawData debug_draw_data()\n {\n DebugDrawData data;\n data.axes_shader = _3D_axis_shader.get();\n data.background_shader = _background_shader.get();\n data.axes_mesh = _3D_axis_mesh.get();\n data.background_mesh = _background_mesh.get();\n data.text_shader = _text_shader.get();\n data.text_vertices = _text_vertices.get();\n data.text_indices = _text_indices.get();\n data.font = _font.get();\n data.cache = _glyph_cache.get();\n\n return data;\n }\n\n protected:\n /* Magnum */\n Scene3D _scene;\n Magnum::SceneGraph::DrawableGroup3D _drawables, _shadowed_drawables, _shadowed_color_drawables, _cubemap_drawables, _cubemap_color_drawables;\n std::unique_ptr<gs::PhongMultiLight> _color_shader, _texture_shader;\n\n std::unique_ptr<gs::Camera> _camera;\n\n bool _done = false;\n\n /* GUI Config */\n GraphicsConfiguration _configuration;\n\n /* DART */\n RobotDARTSimu* _simu;\n std::unique_ptr<Magnum::DartIntegration::World> _dart_world;\n std::unordered_map<Magnum::DartIntegration::Object*, ObjectStruct*> _drawable_objects;\n std::vector<gs::Light> _lights;\n\n /* Shadows */\n bool _shadowed = true, _transparent_shadows = false;\n int _transparentSize = 0;\n std::unique_ptr<gs::ShadowMap> _shadow_shader, _shadow_texture_shader;\n std::unique_ptr<gs::ShadowMapColor> _shadow_color_shader, _shadow_texture_color_shader;\n std::unique_ptr<gs::CubeMap> _cubemap_shader, _cubemap_texture_shader;\n std::unique_ptr<gs::CubeMapColor> _cubemap_color_shader, _cubemap_texture_color_shader;\n std::vector<ShadowData> _shadow_data;\n std::unique_ptr<Magnum::GL::Texture2DArray> _shadow_texture, _shadow_color_texture;\n std::unique_ptr<Magnum::GL::CubeMapTextureArray> _shadow_cube_map, _shadow_color_cube_map;\n int _max_lights = 5;\n int _shadow_map_size = 512;\n std::unique_ptr<Camera3D> _shadow_camera;\n Object3D* _shadow_camera_object;\n\n /* Debug visualization */\n std::unique_ptr<Magnum::GL::Mesh> _3D_axis_mesh;\n std::unique_ptr<Magnum::Shaders::VertexColorGL3D> _3D_axis_shader;\n std::unique_ptr<Magnum::GL::Mesh> _background_mesh;\n std::unique_ptr<Magnum::Shaders::FlatGL2D> _background_shader;\n\n /* Text visualization */\n std::unique_ptr<Magnum::Shaders::DistanceFieldVectorGL2D> _text_shader;\n Corrade::PluginManager::Manager<Magnum::Text::AbstractFont> _font_manager;\n Corrade::Containers::Pointer<Magnum::Text::DistanceFieldGlyphCache> _glyph_cache;\n Corrade::Containers::Pointer<Magnum::Text::AbstractFont> _font;\n Corrade::Containers::Pointer<Magnum::GL::Buffer> _text_vertices;\n Corrade::Containers::Pointer<Magnum::GL::Buffer> _text_indices;\n\n /* Importer */\n Corrade::PluginManager::Manager<Magnum::Trade::AbstractImporter> _importer_manager;\n\n void _gl_clean_up();\n void _prepare_shadows();\n };\n\n template <typename T>\n inline BaseApplication* make_application(RobotDARTSimu* simu, const GraphicsConfiguration& configuration = GraphicsConfiguration())\n {\n int argc = 0;\n char** argv = NULL;\n\n return new T(argc, argv, simu, configuration);\n // configuration.width, configuration.height, configuration.shadowed, configuration.transparent_shadows, configuration.max_lights, configuration.shadow_map_size);\n }\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > base_graphics.hpp
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#include <robot_dart/gui/base.hpp>#include <robot_dart/gui/magnum/glfw_application.hpp>#include <robot_dart/gui/magnum/gs/helper.hpp>#include <robot_dart/gui/magnum/utils_headers_eigen.hpp>#include <robot_dart/robot_dart_simu.hpp>#include <Corrade/Utility/Resource.h>static inline void robot_dart_initialize_magnum_resources () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_graphics.hpp
File List > gui > magnum > base_graphics.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_BASE_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_BASE_GRAPHICS_HPP\n\n#include <robot_dart/gui/base.hpp>\n#include <robot_dart/gui/magnum/glfw_application.hpp>\n#include <robot_dart/gui/magnum/gs/helper.hpp>\n#include <robot_dart/gui/magnum/utils_headers_eigen.hpp>\n#include <robot_dart/robot_dart_simu.hpp>\n\n// We need this for CORRADE_RESOURCE_INITIALIZE\n#include <Corrade/Utility/Resource.h>\n\ninline static void robot_dart_initialize_magnum_resources()\n{\n CORRADE_RESOURCE_INITIALIZE(RobotDARTShaders);\n}\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n template <typename T = GlfwApplication>\n class BaseGraphics : public Base {\n public:\n BaseGraphics(const GraphicsConfiguration& configuration = GraphicsConfiguration())\n : _configuration(configuration), _enabled(true)\n {\n robot_dart_initialize_magnum_resources();\n }\n\n virtual ~BaseGraphics() {}\n\n virtual void set_simu(RobotDARTSimu* simu) override\n {\n ROBOT_DART_EXCEPTION_ASSERT(simu, \"Simulation pointer is null!\");\n _simu = simu;\n _magnum_app.reset(make_application<T>(simu, _configuration));\n }\n\n size_t width() const override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->camera().width();\n }\n\n size_t height() const override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->camera().height();\n }\n\n bool done() const override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->done();\n }\n\n void refresh() override\n {\n if (!_enabled)\n return;\n\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->render();\n }\n\n void set_enable(bool enable) override\n {\n _enabled = enable;\n }\n\n void set_fps(int fps) override { _fps = fps; }\n\n void look_at(const Eigen::Vector3d& camera_pos,\n const Eigen::Vector3d& look_at = Eigen::Vector3d(0, 0, 0),\n const Eigen::Vector3d& up = Eigen::Vector3d(0, 0, 1))\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->look_at(camera_pos, look_at, up);\n }\n\n void clear_lights()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->clear_lights();\n }\n\n void add_light(const magnum::gs::Light& light)\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->add_light(light);\n }\n\n std::vector<gs::Light>& lights()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->lights();\n }\n\n size_t num_lights() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->num_lights();\n }\n\n magnum::gs::Light& light(size_t i)\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->light(i);\n }\n\n void record_video(const std::string& video_fname, int fps = -1)\n {\n int fps_computed = (fps == -1) ? _fps : fps;\n ROBOT_DART_EXCEPTION_ASSERT(fps_computed != -1, \"Video FPS not set!\");\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n\n _magnum_app->record_video(video_fname, fps_computed);\n }\n\n bool shadowed() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->shadowed();\n }\n\n bool transparent_shadows() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->transparent_shadows();\n }\n\n void enable_shadows(bool enable = true, bool transparent = true)\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->enable_shadows(enable, transparent);\n }\n\n Magnum::Image2D* magnum_image()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n if (_magnum_app->image())\n return &(*_magnum_app->image());\n return nullptr;\n }\n\n Image image() override\n {\n auto image = magnum_image();\n if (image)\n return gs::rgb_from_image(image);\n return Image();\n }\n\n GrayscaleImage depth_image() override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->depth_image();\n }\n\n GrayscaleImage raw_depth_image() override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->raw_depth_image();\n }\n\n DepthImage depth_array() override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->depth_array();\n }\n\n gs::Camera& camera()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->camera();\n }\n\n const gs::Camera& camera() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->camera();\n }\n\n Eigen::Matrix3d camera_intrinsic_matrix() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return Magnum::EigenIntegration::cast<Eigen::Matrix3d>(Magnum::Matrix3d(_magnum_app->camera().intrinsic_matrix()));\n }\n\n Eigen::Matrix4d camera_extrinsic_matrix() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return Magnum::EigenIntegration::cast<Eigen::Matrix4d>(Magnum::Matrix4d(_magnum_app->camera().extrinsic_matrix()));\n }\n\n BaseApplication* magnum_app()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return &*_magnum_app;\n }\n\n const BaseApplication* magnum_app() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return &*_magnum_app;\n }\n\n protected:\n GraphicsConfiguration _configuration;\n bool _enabled;\n int _fps;\n std::unique_ptr<BaseApplication> _magnum_app;\n\n Corrade::Utility::Debug _magnum_silence_output{nullptr};\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > drawables.cpp
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#include <robot_dart/gui/magnum/drawables.hpp>#include <robot_dart/gui_data.hpp>#include <robot_dart/robot_dart_simu.hpp>#include <robot_dart/utils.hpp>#include <Magnum/GL/CubeMapTexture.h>#include <Magnum/GL/DefaultFramebuffer.h>#include <Magnum/GL/Mesh.h>#include <Magnum/GL/Renderer.h>#include <Magnum/GL/AbstractFramebuffer.h>#include <Magnum/GL/GL.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.cpp
File List > gui > magnum > drawables.cpp
Go to the documentation of this file
#include <robot_dart/gui/magnum/drawables.hpp>\n#include <robot_dart/gui_data.hpp>\n#include <robot_dart/robot_dart_simu.hpp>\n#include <robot_dart/utils.hpp>\n\n#include <Magnum/GL/CubeMapTexture.h>\n#include <Magnum/GL/DefaultFramebuffer.h>\n#include <Magnum/GL/Mesh.h>\n#include <Magnum/GL/Renderer.h>\n\n#include <Magnum/GL/AbstractFramebuffer.h>\n#include <Magnum/GL/GL.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n // DrawableObject\n DrawableObject::DrawableObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n const std::vector<gs::Material>& materials,\n gs::PhongMultiLight& color,\n gs::PhongMultiLight& texture,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _color_shader{color},\n _texture_shader{texture},\n _materials(materials)\n {\n _is_soft_body.resize(_meshes.size(), false);\n }\n\n DrawableObject& DrawableObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_soft_bodies(const std::vector<bool>& softBody)\n {\n _is_soft_body = softBody;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n\n _has_negative_scaling.resize(_scalings.size());\n for (size_t i = 0; i < scalings.size(); i++) {\n _has_negative_scaling[i] = false;\n for (size_t j = 0; j < 3; j++)\n if (_scalings[i][j] < 0.f) {\n _has_negative_scaling[i] = true;\n break;\n }\n }\n\n return *this;\n }\n\n DrawableObject& DrawableObject::set_transparent(bool transparent)\n {\n _isTransparent = transparent;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_color_shader(std::reference_wrapper<gs::PhongMultiLight> shader)\n {\n _color_shader = shader;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_texture_shader(std::reference_wrapper<gs::PhongMultiLight> shader)\n {\n _texture_shader = shader;\n return *this;\n }\n\n void DrawableObject::draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera)\n {\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (_is_soft_body[i])\n Magnum::GL::Renderer::disable(Magnum::GL::Renderer::Feature::FaceCulling);\n else if (_has_negative_scaling[i])\n Magnum::GL::Renderer::setFaceCullingMode(Magnum::GL::Renderer::PolygonFacing::Front);\n if (isColor) {\n _color_shader.get()\n .set_material(_materials[i])\n .set_transformation_matrix(absoluteTransformationMatrix() * scalingMatrix)\n .set_normal_matrix((transformationMatrix * scalingMatrix).rotationScaling())\n .set_camera_matrix(camera.cameraMatrix())\n .set_projection_matrix(camera.projectionMatrix())\n .draw(mesh);\n }\n else {\n _texture_shader.get()\n .set_material(_materials[i])\n .set_transformation_matrix(absoluteTransformationMatrix() * scalingMatrix)\n .set_normal_matrix((transformationMatrix * scalingMatrix).rotationScaling())\n .set_camera_matrix(camera.cameraMatrix())\n .set_projection_matrix(camera.projectionMatrix())\n .draw(mesh);\n }\n\n if (_is_soft_body[i])\n Magnum::GL::Renderer::enable(Magnum::GL::Renderer::Feature::FaceCulling);\n else if (_has_negative_scaling[i])\n Magnum::GL::Renderer::setFaceCullingMode(Magnum::GL::Renderer::PolygonFacing::Back);\n }\n }\n\n // ShadowedObject\n ShadowedObject::ShadowedObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::ShadowMap& shader,\n gs::ShadowMap& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _shader{shader},\n _texture_shader(texture_shader) {}\n\n ShadowedObject& ShadowedObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n ShadowedObject& ShadowedObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n ShadowedObject& ShadowedObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n return *this;\n }\n\n void ShadowedObject::draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera)\n {\n if (!_simu->gui_data()->cast_shadows(_shape))\n return;\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (isColor) {\n (_shader.get())\n .set_transformation_matrix(transformationMatrix * scalingMatrix)\n .set_projection_matrix(camera.projectionMatrix())\n .set_material(_materials[i])\n .draw(mesh);\n }\n else {\n (_texture_shader.get())\n .set_transformation_matrix(transformationMatrix * scalingMatrix)\n .set_projection_matrix(camera.projectionMatrix())\n .set_material(_materials[i])\n .draw(mesh);\n }\n }\n }\n\n // ShadowedColorObject\n ShadowedColorObject::ShadowedColorObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::ShadowMapColor& shader,\n gs::ShadowMapColor& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _shader{shader},\n _texture_shader(texture_shader) {}\n\n ShadowedColorObject& ShadowedColorObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n ShadowedColorObject& ShadowedColorObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n ShadowedColorObject& ShadowedColorObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n return *this;\n }\n\n void ShadowedColorObject::draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera)\n {\n if (!_simu->gui_data()->cast_shadows(_shape))\n return;\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (isColor) {\n (_shader.get())\n .set_transformation_matrix(transformationMatrix * scalingMatrix)\n .set_projection_matrix(camera.projectionMatrix())\n .set_material(_materials[i])\n .draw(mesh);\n }\n else {\n (_texture_shader.get())\n .set_transformation_matrix(transformationMatrix * scalingMatrix)\n .set_projection_matrix(camera.projectionMatrix())\n .set_material(_materials[i])\n .draw(mesh);\n }\n }\n }\n\n // CubeMapShadowedObject\n CubeMapShadowedObject::CubeMapShadowedObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::CubeMap& shader,\n gs::CubeMap& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _shader{shader},\n _texture_shader(texture_shader) {}\n\n CubeMapShadowedObject& CubeMapShadowedObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n CubeMapShadowedObject& CubeMapShadowedObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n CubeMapShadowedObject& CubeMapShadowedObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n return *this;\n }\n\n void CubeMapShadowedObject::draw(const Magnum::Matrix4&, Magnum::SceneGraph::Camera3D&)\n {\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (isColor) {\n (_shader.get())\n .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n .set_material(_materials[i])\n .draw(mesh);\n }\n else {\n (_texture_shader.get())\n .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n .set_material(_materials[i])\n .draw(mesh);\n }\n }\n }\n\n // CubeMapShadowedColorObject\n CubeMapShadowedColorObject::CubeMapShadowedColorObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::CubeMapColor& shader,\n gs::CubeMapColor& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _shader{shader},\n _texture_shader(texture_shader) {}\n\n CubeMapShadowedColorObject& CubeMapShadowedColorObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n CubeMapShadowedColorObject& CubeMapShadowedColorObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n CubeMapShadowedColorObject& CubeMapShadowedColorObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n return *this;\n }\n\n void CubeMapShadowedColorObject::draw(const Magnum::Matrix4&, Magnum::SceneGraph::Camera3D&)\n {\n if (!_simu->gui_data()->cast_shadows(_shape))\n return;\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (isColor) {\n (_shader.get())\n .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n .set_material(_materials[i])\n .draw(mesh);\n }\n else {\n (_texture_shader.get())\n .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n .set_material(_materials[i])\n .draw(mesh);\n }\n }\n }\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gui > magnum > drawables.hpp
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#include <robot_dart/gui/helper.hpp>#include <robot_dart/gui/magnum/gs/cube_map.hpp>#include <robot_dart/gui/magnum/gs/cube_map_color.hpp>#include <robot_dart/gui/magnum/gs/phong_multi_light.hpp>#include <robot_dart/gui/magnum/gs/shadow_map.hpp>#include <robot_dart/gui/magnum/gs/shadow_map_color.hpp>#include <robot_dart/gui/magnum/types.hpp>#include <Magnum/GL/Framebuffer.h>#include <Magnum/SceneGraph/Drawable.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
File List > gui > magnum > drawables.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_DRAWABLES_HPP\n#define ROBOT_DART_GUI_MAGNUM_DRAWABLES_HPP\n\n#include <robot_dart/gui/helper.hpp>\n#include <robot_dart/gui/magnum/gs/cube_map.hpp>\n#include <robot_dart/gui/magnum/gs/cube_map_color.hpp>\n#include <robot_dart/gui/magnum/gs/phong_multi_light.hpp>\n#include <robot_dart/gui/magnum/gs/shadow_map.hpp>\n#include <robot_dart/gui/magnum/gs/shadow_map_color.hpp>\n#include <robot_dart/gui/magnum/types.hpp>\n\n#include <Magnum/GL/Framebuffer.h>\n\n#include <Magnum/SceneGraph/Drawable.h>\n\nnamespace dart {\n namespace dynamics {\n class ShapeNode;\n }\n} // namespace dart\n\nnamespace robot_dart {\n class RobotDARTSimu;\n\n namespace gui {\n namespace magnum {\n class DrawableObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit DrawableObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n const std::vector<gs::Material>& materials,\n gs::PhongMultiLight& color,\n gs::PhongMultiLight& texture,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n DrawableObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n DrawableObject& set_materials(const std::vector<gs::Material>& materials);\n DrawableObject& set_soft_bodies(const std::vector<bool>& softBody);\n DrawableObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n DrawableObject& set_transparent(bool transparent = true);\n\n DrawableObject& set_color_shader(std::reference_wrapper<gs::PhongMultiLight> shader);\n DrawableObject& set_texture_shader(std::reference_wrapper<gs::PhongMultiLight> shader);\n\n const std::vector<gs::Material>& materials() const { return _materials; }\n bool transparent() const { return _isTransparent; }\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::PhongMultiLight> _color_shader;\n std::reference_wrapper<gs::PhongMultiLight> _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n std::vector<bool> _has_negative_scaling;\n std::vector<bool> _is_soft_body;\n bool _isTransparent;\n };\n\n class ShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit ShadowedObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::ShadowMap& shader,\n gs::ShadowMap& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n ShadowedObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n ShadowedObject& set_materials(const std::vector<gs::Material>& materials);\n ShadowedObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::ShadowMap> _shader, _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n };\n\n class ShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit ShadowedColorObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::ShadowMapColor& shader,\n gs::ShadowMapColor& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n ShadowedColorObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n ShadowedColorObject& set_materials(const std::vector<gs::Material>& materials);\n ShadowedColorObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::ShadowMapColor> _shader, _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n };\n\n class CubeMapShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit CubeMapShadowedObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::CubeMap& shader,\n gs::CubeMap& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n CubeMapShadowedObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n CubeMapShadowedObject& set_materials(const std::vector<gs::Material>& materials);\n CubeMapShadowedObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::CubeMap> _shader, _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n };\n\n class CubeMapShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit CubeMapShadowedColorObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::CubeMapColor& shader,\n gs::CubeMapColor& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n CubeMapShadowedColorObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n CubeMapShadowedColorObject& set_materials(const std::vector<gs::Material>& materials);\n CubeMapShadowedColorObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::CubeMapColor> _shader, _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n };\n\n struct ShadowData {\n Magnum::GL::Framebuffer shadow_framebuffer{Magnum::NoCreate};\n Magnum::GL::Framebuffer shadow_color_framebuffer{Magnum::NoCreate};\n };\n\n struct ObjectStruct {\n DrawableObject* drawable;\n ShadowedObject* shadowed;\n ShadowedColorObject* shadowed_color;\n CubeMapShadowedObject* cubemapped;\n CubeMapShadowedColorObject* cubemapped_color;\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n#endif\nFileList > gui > magnum > glfw_application.cpp
Go to the source code of this file
#include \"glfw_application.hpp\"#include \"robot_dart/utils.hpp\"#include <Magnum/GL/DefaultFramebuffer.h>#include <Magnum/GL/Renderer.h>#include <Magnum/GL/Version.h>#include <Magnum/PixelFormat.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/glfw_application.cpp
File: api/glfw__application_8cpp_source.md
Line 69 in Markdown file: unexpected '}'
Magnum::GL::defaultFramebuffer.setViewport({{}, event.framebufferSize()});\nFileList > gui > magnum > glfw_application.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/base_application.hpp>#include <Magnum/Platform/GlfwApplication.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/glfw_application.hpp
File List > gui > magnum > glfw_application.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GLFW_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_GLFW_APPLICATION_HPP\n\n#include <robot_dart/gui/magnum/base_application.hpp>\n\n// Workaround for X11lib defines\n#undef Button1\n#undef Button2\n#undef Button3\n#undef Button4\n#undef Button5\n#include <Magnum/Platform/GlfwApplication.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n class GlfwApplication : public BaseApplication, public Magnum::Platform::Application {\n public:\n explicit GlfwApplication(int argc, char** argv, RobotDARTSimu* simu, const GraphicsConfiguration& configuration = GraphicsConfiguration());\n\n ~GlfwApplication();\n\n void render() override;\n\n protected:\n RobotDARTSimu* _simu;\n Magnum::Float _speed_move, _speed_strafe;\n bool _draw_main_camera, _draw_debug;\n Magnum::Color4 _bg_color;\n\n static constexpr Magnum::Float _speed = 0.05f;\n\n void viewportEvent(ViewportEvent& event) override;\n\n void drawEvent() override;\n\n virtual void keyReleaseEvent(KeyEvent& event) override;\n virtual void keyPressEvent(KeyEvent& event) override;\n\n virtual void mouseScrollEvent(MouseScrollEvent& event) override;\n virtual void mouseMoveEvent(MouseMoveEvent& event) override;\n\n void exitEvent(ExitEvent& event) override;\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > graphics.cpp
Go to the source code of this file
#include <robot_dart/gui/magnum/graphics.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/graphics.cpp
File List > gui > magnum > graphics.cpp
Go to the documentation of this file
#include <robot_dart/gui/magnum/graphics.hpp>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n void Graphics::set_simu(RobotDARTSimu* simu)\n {\n BaseGraphics<GlfwApplication>::set_simu(simu);\n // we synchronize by default if we have the graphics activated\n simu->scheduler().set_sync(true);\n // enable summary text when graphics activated\n simu->enable_text_panel(true);\n simu->enable_status_bar(true);\n }\n\n GraphicsConfiguration Graphics::default_configuration()\n {\n return GraphicsConfiguration();\n }\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gui > magnum > graphics.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/base_graphics.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/graphics.hpp
File List > gui > magnum > graphics.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_GRAPHICS_HPP\n\n#include <robot_dart/gui/magnum/base_graphics.hpp>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n class Graphics : public BaseGraphics<GlfwApplication> {\n public:\n Graphics(const GraphicsConfiguration& configuration = default_configuration()) : BaseGraphics<GlfwApplication>(configuration) {}\n ~Graphics() {}\n\n void set_simu(RobotDARTSimu* simu) override;\n\n static GraphicsConfiguration default_configuration();\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs
"},{"location":"api/dir_2f8612d80f6bb57c97efd4c82e0df286/#files","title":"Files","text":"Type Name file camera.cpp file camera.hpp file create_compatibility_shader.hpp file cube_map.cpp file cube_map.hpp file cube_map_color.cpp file cube_map_color.hpp file helper.cpp file helper.hpp file light.cpp file light.hpp file material.cpp file material.hpp file phong_multi_light.cpp file phong_multi_light.hpp file shadow_map.cpp file shadow_map.hpp file shadow_map_color.cpp file shadow_map_color.hppThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/
FileList > gs > camera.cpp
Go to the source code of this file
#include \"camera.hpp\"#include \"robot_dart/gui/magnum/base_application.hpp\"#include \"robot_dart/gui_data.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"#include \"robot_dart/utils.hpp\"#include <external/process.hpp>#include <algorithm>#include <Corrade/Containers/ArrayViewStl.h>#include <Corrade/Containers/StridedArrayView.h>#include <Corrade/Utility/Algorithms.h>#include <Magnum/GL/AbstractFramebuffer.h>#include <Magnum/GL/GL.h>#include <Magnum/GL/PixelFormat.h>#include <Magnum/GL/Renderer.h>#include <Magnum/ImageView.h>#include <Magnum/PixelFormat.h>#include <robot_dart/gui/magnum/utils_headers_eigen.hpp>#include <utheque/utheque.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.cpp
File: api/gs_2camera_8cpp_source.md
Line 204 in Markdown file: expected name or number
return {{projection[0][0], 0., 0.},\nFileList > gs > camera.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/gs/light.hpp>#include <robot_dart/gui/magnum/types.hpp>#include <robot_dart/robot_dart_simu.hpp>#include <Corrade/Containers/Optional.h>#include <Magnum/GL/Mesh.h>#include <Magnum/Image.h>#include <Magnum/Shaders/DistanceFieldVector.h>#include <Magnum/Shaders/VertexColor.h>#include <Magnum/Text/Renderer.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.hpp
File List > gs > camera.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GS_CAMERA_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CAMERA_HPP\n\n#include <robot_dart/gui/magnum/gs/light.hpp>\n#include <robot_dart/gui/magnum/types.hpp>\n#include <robot_dart/robot_dart_simu.hpp>\n\n#include <Corrade/Containers/Optional.h>\n#include <Magnum/GL/Mesh.h>\n#include <Magnum/Image.h>\n#include <Magnum/Shaders/DistanceFieldVector.h>\n#include <Magnum/Shaders/VertexColor.h>\n#include <Magnum/Text/Renderer.h>\n\nnamespace TinyProcessLib {\n class Process;\n}\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n struct DebugDrawData;\n\n namespace gs {\n // This is partly code from the ThirdPersonCameraController of https://github.com/alexesDev/magnum-tips\n class Camera : public Object3D {\n public:\n explicit Camera(Object3D& object, Magnum::Int width, Magnum::Int height);\n ~Camera();\n\n Camera3D& camera() const;\n Object3D& root_object();\n Object3D& camera_object() const;\n\n Camera& set_viewport(const Magnum::Vector2i& size);\n\n Camera& move(const Magnum::Vector2i& shift);\n Camera& forward(Magnum::Float speed);\n Camera& strafe(Magnum::Float speed);\n\n Camera& set_speed(const Magnum::Vector2& speed);\n Camera& set_near_plane(Magnum::Float near_plane);\n Camera& set_far_plane(Magnum::Float far_plane);\n Camera& set_fov(Magnum::Float fov);\n Camera& set_camera_params(Magnum::Float near_plane, Magnum::Float far_plane, Magnum::Float fov, Magnum::Int width, Magnum::Int height);\n\n Magnum::Vector2 speed() const { return _speed; }\n Magnum::Float near_plane() const { return _near_plane; }\n Magnum::Float far_plane() const { return _far_plane; }\n Magnum::Float fov() const { return static_cast<Magnum::Float>(_fov); }\n Magnum::Int width() const { return _camera->viewport()[0]; }\n Magnum::Int height() const { return _camera->viewport()[1]; }\n Magnum::Matrix3 intrinsic_matrix() const;\n Magnum::Matrix4 extrinsic_matrix() const;\n\n Camera& look_at(const Magnum::Vector3& camera, const Magnum::Vector3& center, const Magnum::Vector3& up = Magnum::Vector3::zAxis());\n\n void transform_lights(std::vector<gs::Light>& lights) const;\n\n void record(bool recording, bool recording_depth = false)\n {\n _recording = recording;\n _recording_depth = recording_depth;\n }\n\n // FPS is mandatory here (compared to Graphics and CameraOSR)\n void record_video(const std::string& video_fname, int fps);\n bool recording() { return _recording; }\n bool recording_depth() { return _recording_depth; }\n\n Corrade::Containers::Optional<Magnum::Image2D>& image() { return _image; }\n Corrade::Containers::Optional<Magnum::Image2D>& depth_image() { return _depth_image; }\n\n void draw(Magnum::SceneGraph::DrawableGroup3D& drawables, Magnum::GL::AbstractFramebuffer& framebuffer, Magnum::PixelFormat format, RobotDARTSimu* simu, const DebugDrawData& debug_data, bool draw_debug = true);\n\n private:\n Object3D* _yaw_object;\n Object3D* _pitch_object;\n Object3D* _camera_object;\n\n Camera3D* _camera;\n Magnum::Vector2 _speed{-0.01f, 0.01f};\n\n Magnum::Vector3 _up, _front, _right;\n Magnum::Float _aspect_ratio, _near_plane, _far_plane;\n Magnum::Rad _fov;\n Magnum::Int _width, _height;\n\n bool _recording = false, _recording_depth = false;\n bool _recording_video = false;\n Corrade::Containers::Optional<Magnum::Image2D> _image, _depth_image;\n\n TinyProcessLib::Process* _ffmpeg_process = nullptr;\n\n void _clean_up_subprocess();\n };\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > create_compatibility_shader.hpp
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#include <Corrade/Utility/Resource.h>#include <Magnum/GL/Context.h>#include <Magnum/GL/Extensions.h>#include <Magnum/GL/Shader.h>#include <string>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
File List > gs > create_compatibility_shader.hpp
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#ifndef Magnum_Shaders_Implementation_CreateCompatibilityShader_h\n#define Magnum_Shaders_Implementation_CreateCompatibilityShader_h\n/*\n This file is part of Magnum.\n Copyright \u00a9 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018\n Vladim\u00edr Vondru\u0161 <mosra@centrum.cz>\n Permission is hereby granted, free of charge, to any person obtaining a\n copy of this software and associated documentation files (the \"Software\"),\n to deal in the Software without restriction, including without limitation\n the rights to use, copy, modify, merge, publish, distribute, sublicense,\n and/or sell copies of the Software, and to permit persons to whom the\n Software is furnished to do so, subject to the following conditions:\n The above copyright notice and this permission notice shall be included\n in all copies or substantial portions of the Software.\n THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL\n THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n DEALINGS IN THE SOFTWARE.\n*/\n\n#include <Corrade/Utility/Resource.h>\n\n#include <Magnum/GL/Context.h>\n#include <Magnum/GL/Extensions.h>\n#include <Magnum/GL/Shader.h>\n\n#include <string>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n namespace {\n enum : Magnum::Int { AmbientTextureLayer = 0,\n DiffuseTextureLayer = 1,\n SpecularTextureLayer = 2 };\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\nnamespace Magnum {\n namespace Shaders {\n namespace Implementation {\n\n inline GL::Shader createCompatibilityShader(const Utility::Resource& rs, GL::Version version, GL::Shader::Type type)\n {\n GL::Shader shader(version, type);\n\n#ifndef MAGNUM_TARGET_GLES\n if (GL::Context::current().isExtensionDisabled<GL::Extensions::ARB::explicit_attrib_location>(version))\n shader.addSource(\"#define DISABLE_GL_ARB_explicit_attrib_location\\n\");\n if (GL::Context::current().isExtensionDisabled<GL::Extensions::ARB::shading_language_420pack>(version))\n shader.addSource(\"#define DISABLE_GL_ARB_shading_language_420pack\\n\");\n if (GL::Context::current().isExtensionDisabled<GL::Extensions::ARB::explicit_uniform_location>(version))\n shader.addSource(\"#define DISABLE_GL_ARB_explicit_uniform_location\\n\");\n#endif\n\n#ifndef MAGNUM_TARGET_GLES2\n if (type == GL::Shader::Type::Vertex && GL::Context::current().isExtensionDisabled<GL::Extensions::MAGNUM::shader_vertex_id>(version))\n shader.addSource(\"#define DISABLE_GL_MAGNUM_shader_vertex_id\\n\");\n#endif\n\n/* My Android emulator (running on NVidia) doesn't define GL_ES\n preprocessor macro, thus *all* the stock shaders fail to compile */\n#ifdef CORRADE_TARGET_ANDROID\n shader.addSource(\"#ifndef GL_ES\\n#define GL_ES 1\\n#endif\\n\");\n#endif\n\n shader.addSource(rs.get(\"compatibility.glsl\"));\n return shader;\n }\n\n } // namespace Implementation\n } // namespace Shaders\n} // namespace Magnum\n\n#endif\nFileList > gs > cube_map.cpp
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#include \"cube_map.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map.cpp
File List > gs > cube_map.cpp
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#include \"cube_map.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n CubeMap::CubeMap(CubeMap::Flags flags) : _flags(flags)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader geom = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Geometry);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"CubeMap.vert\"));\n geom.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"CubeMap.geom\"));\n frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"CubeMap.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, geom, frag}));\n\n attachShaders({vert, geom, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _shadow_matrices_uniform = uniformLocation(\"shadowMatrices[0]\");\n _light_position_uniform = uniformLocation(\"lightPosition\");\n _far_plane_uniform = uniformLocation(\"farPlane\");\n _light_index_uniform = uniformLocation(\"lightIndex\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n }\n }\n\n CubeMap::CubeMap(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n CubeMap::Flags CubeMap::flags() const { return _flags; }\n\n CubeMap& CubeMap::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n CubeMap& CubeMap::set_shadow_matrices(Magnum::Matrix4 matrices[6])\n {\n for (size_t i = 0; i < 6; i++)\n setUniform(_shadow_matrices_uniform + i, matrices[i]);\n return *this;\n }\n\n CubeMap& CubeMap::set_light_position(const Magnum::Vector3& position)\n {\n setUniform(_light_position_uniform, position);\n return *this;\n }\n\n CubeMap& CubeMap::set_far_plane(Magnum::Float far_plane)\n {\n setUniform(_far_plane_uniform, far_plane);\n return *this;\n }\n\n CubeMap& CubeMap::set_light_index(Magnum::Int index)\n {\n setUniform(_light_index_uniform, index);\n return *this;\n }\n\n CubeMap& CubeMap::set_material(Material& material)\n {\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > cube_map.hpp
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#include <robot_dart/gui/magnum/gs/material.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map.hpp
File List > gs > cube_map.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class CubeMap : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n DiffuseTexture = 1 << 0, \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit CubeMap(Flags flags = {});\n explicit CubeMap(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n CubeMap& set_transformation_matrix(const Magnum::Matrix4& matrix);\n CubeMap& set_shadow_matrices(Magnum::Matrix4 matrices[6]);\n CubeMap& set_light_position(const Magnum::Vector3& position);\n CubeMap& set_far_plane(Magnum::Float far_plane);\n CubeMap& set_light_index(Magnum::Int index);\n CubeMap& set_material(Material& material);\n\n private:\n Flags _flags;\n Magnum::Int _transformation_matrix_uniform{0},\n _shadow_matrices_uniform{5},\n _light_position_uniform{1},\n _far_plane_uniform{2},\n _light_index_uniform{3},\n _diffuse_color_uniform{4};\n };\n\n CORRADE_ENUMSET_OPERATORS(CubeMap::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > cube_map_color.cpp
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#include \"cube_map_color.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/CubeMapTextureArray.h>#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map_color.cpp
File List > gs > cube_map_color.cpp
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#include \"cube_map_color.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/CubeMapTextureArray.h>\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n CubeMapColor::CubeMapColor(CubeMapColor::Flags flags) : _flags(flags)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader geom = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Geometry);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"CubeMap.vert\"));\n geom.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"CubeMap.geom\"));\n frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"CubeMapColor.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, geom, frag}));\n\n attachShaders({vert, geom, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _shadow_matrices_uniform = uniformLocation(\"shadowMatrices[0]\");\n _light_position_uniform = uniformLocation(\"lightPosition\");\n _far_plane_uniform = uniformLocation(\"farPlane\");\n _light_index_uniform = uniformLocation(\"lightIndex\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n }\n\n if (!Magnum::GL::Context::current()\n .isExtensionSupported<Magnum::GL::Extensions::ARB::shading_language_420pack>(version)) {\n setUniform(uniformLocation(\"cubeMapTextures\"), _cube_map_textures_location);\n if (flags) {\n if (flags & Flag::DiffuseTexture)\n setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n }\n }\n }\n\n CubeMapColor::CubeMapColor(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n CubeMapColor::Flags CubeMapColor::flags() const { return _flags; }\n\n CubeMapColor& CubeMapColor::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_shadow_matrices(Magnum::Matrix4 matrices[6])\n {\n for (size_t i = 0; i < 6; i++)\n setUniform(_shadow_matrices_uniform + i, matrices[i]);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_light_position(const Magnum::Vector3& position)\n {\n setUniform(_light_position_uniform, position);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_far_plane(Magnum::Float far_plane)\n {\n setUniform(_far_plane_uniform, far_plane);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_light_index(Magnum::Int index)\n {\n setUniform(_light_index_uniform, index);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_material(Material& material)\n {\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n return *this;\n }\n\n CubeMapColor& CubeMapColor::bind_cube_map_texture(Magnum::GL::CubeMapTextureArray& texture)\n {\n texture.bind(_cube_map_textures_location);\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > cube_map_color.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/gs/material.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map_color.hpp
File List > gs > cube_map_color.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_COLOR_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_COLOR_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class CubeMapColor : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n DiffuseTexture = 1 << 0, \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit CubeMapColor(Flags flags = {});\n explicit CubeMapColor(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n CubeMapColor& set_transformation_matrix(const Magnum::Matrix4& matrix);\n CubeMapColor& set_shadow_matrices(Magnum::Matrix4 matrices[6]);\n CubeMapColor& set_light_position(const Magnum::Vector3& position);\n CubeMapColor& set_far_plane(Magnum::Float far_plane);\n CubeMapColor& set_light_index(Magnum::Int index);\n CubeMapColor& set_material(Material& material);\n\n CubeMapColor& bind_cube_map_texture(Magnum::GL::CubeMapTextureArray& texture);\n\n private:\n Flags _flags;\n Magnum::Int _transformation_matrix_uniform{0},\n _shadow_matrices_uniform{5},\n _light_position_uniform{1},\n _far_plane_uniform{2},\n _light_index_uniform{3},\n _diffuse_color_uniform{4},\n _cube_map_textures_location{2};\n };\n\n CORRADE_ENUMSET_OPERATORS(CubeMapColor::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > helper.cpp
Go to the source code of this file
#include \"helper.hpp\"#include <Corrade/Containers/ArrayViewStl.h>#include <Corrade/Containers/StridedArrayView.h>#include <Corrade/Utility/Algorithms.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/PackingBatch.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/helper.cpp
File List > gs > helper.cpp
Go to the documentation of this file
#include \"helper.hpp\"\n\n#include <Corrade/Containers/ArrayViewStl.h>\n#include <Corrade/Containers/StridedArrayView.h>\n#include <Corrade/Utility/Algorithms.h>\n\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/PackingBatch.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n Image rgb_from_image(Magnum::Image2D* image)\n {\n Image img;\n\n img.width = image->size().x();\n img.height = image->size().y();\n img.channels = 3;\n img.data.resize(image->size().product() * sizeof(Magnum::Color3ub));\n Corrade::Containers::StridedArrayView2D<const Magnum::Color3ub> src = image->pixels<Magnum::Color3ub>().flipped<0>();\n Corrade::Containers::StridedArrayView2D<Magnum::Color3ub> dst{Corrade::Containers::arrayCast<Magnum::Color3ub>(Corrade::Containers::arrayView(img.data)), {std::size_t(image->size().y()), std::size_t(image->size().x())}};\n Corrade::Utility::copy(src, dst);\n\n return img;\n }\n\n GrayscaleImage depth_from_image(Magnum::Image2D* image, bool linearize, Magnum::Float near_plane, Magnum::Float far_plane)\n {\n GrayscaleImage img;\n\n img.width = image->size().x();\n img.height = image->size().y();\n img.data.resize(image->size().product() * sizeof(uint8_t));\n\n std::vector<Magnum::Float> data = std::vector<Magnum::Float>(image->size().product());\n Corrade::Containers::StridedArrayView2D<const Magnum::Float> src = image->pixels<Magnum::Float>().flipped<0>();\n Corrade::Containers::StridedArrayView2D<Magnum::Float> dst{Corrade::Containers::arrayCast<Magnum::Float>(Corrade::Containers::arrayView(data)), {std::size_t(image->size().y()), std::size_t(image->size().x())}};\n Corrade::Utility::copy(src, dst);\n\n if (linearize) {\n for (auto& depth : data)\n depth = (2.f * near_plane) / (far_plane + near_plane - depth * (far_plane - near_plane));\n }\n\n Corrade::Containers::StridedArrayView2D<uint8_t> new_dst{Corrade::Containers::arrayCast<uint8_t>(Corrade::Containers::arrayView(img.data)), {std::size_t(image->size().y()), std::size_t(image->size().x())}};\n\n Magnum::Math::packInto(dst, new_dst);\n\n return img;\n }\n\n DepthImage depth_array_from_image(Magnum::Image2D* image, Magnum::Float near_plane, Magnum::Float far_plane)\n {\n DepthImage img;\n img.width = image->size().x();\n img.height = image->size().y();\n\n std::vector<Magnum::Float> data = std::vector<Magnum::Float>(image->size().product());\n Corrade::Containers::StridedArrayView2D<const Magnum::Float> src = image->pixels<Magnum::Float>().flipped<0>();\n Corrade::Containers::StridedArrayView2D<Magnum::Float> dst{Corrade::Containers::arrayCast<Magnum::Float>(Corrade::Containers::arrayView(data)), {std::size_t(image->size().y()), std::size_t(image->size().x())}};\n Corrade::Utility::copy(src, dst);\n\n img.data = std::vector<double>(data.begin(), data.end());\n\n double zNear = static_cast<double>(near_plane);\n double zFar = static_cast<double>(far_plane);\n\n // zNear * zFar / (zFar + d * (zNear - zFar));\n for (auto& depth : img.data)\n // depth = (2. * zNear) / (zFar + zNear - depth * (zFar - zNear));\n depth = (zNear * zFar) / (zFar - depth * (zFar - zNear));\n\n return img;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > helper.hpp
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#include <robot_dart/gui/helper.hpp>#include <vector>#include <Magnum/Image.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/helper.hpp
File List > gs > helper.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_HELPER_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_HELPER_HPP\n\n#include <robot_dart/gui/helper.hpp>\n\n#include <vector>\n\n#include <Magnum/Image.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n Image rgb_from_image(Magnum::Image2D* image);\n GrayscaleImage depth_from_image(Magnum::Image2D* image, bool linearize = false, Magnum::Float near_plane = 0.f, Magnum::Float far_plane = 100.f);\n DepthImage depth_array_from_image(Magnum::Image2D* image, Magnum::Float near_plane = 0.f, Magnum::Float far_plane = 100.f);\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > light.cpp
Go to the source code of this file
#include \"light.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/light.cpp
File List > gs > light.cpp
Go to the documentation of this file
#include \"light.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n Light::Light() : _position(Magnum::Vector4{0.f, 0.f, 0.f, 1.f}),\n _transformed_position(_position),\n _material(Material()),\n _spot_direction(Magnum::Vector3{1.f, 0.f, 0.f}),\n _spot_exponent(1.f),\n _spot_cut_off(Magnum::Math::Constants<Magnum::Float>::pi()),\n _attenuation(Magnum::Vector4{0.f, 0.f, 1.f, 1.f}),\n _cast_shadows(true) {}\n\n Light::Light(const Magnum::Vector4& position, const Material& material, const Magnum::Vector3& spot_direction,\n Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4& attenuation, bool cast_shadows) : _position(position),\n _transformed_position(_position),\n _material(material),\n _spot_direction(spot_direction),\n _spot_exponent(spot_exponent),\n _spot_cut_off(spot_cut_off),\n _attenuation(attenuation),\n _cast_shadows(cast_shadows) {}\n\n // Magnum::Vector4& Light::position();\n Magnum::Vector4 Light::position() const { return _position; }\n\n Magnum::Vector4& Light::transformed_position() { return _transformed_position; }\n Magnum::Vector4 Light::transformed_position() const { return _transformed_position; }\n\n Material& Light::material() { return _material; }\n Material Light::material() const { return _material; }\n\n // Magnum::Vector3& Light::spot_direction() { return _spot_direction; }\n Magnum::Vector3 Light::spot_direction() const { return _spot_direction; }\n\n Magnum::Vector3& Light::transformed_spot_direction() { return _transformed_spot_direction; }\n Magnum::Vector3 Light::transformed_spot_direction() const { return _transformed_spot_direction; }\n\n Magnum::Float& Light::spot_exponent() { return _spot_exponent; }\n Magnum::Float Light::spot_exponent() const { return _spot_exponent; }\n\n Magnum::Float& Light::spot_cut_off() { return _spot_cut_off; }\n Magnum::Float Light::spot_cut_off() const { return _spot_cut_off; }\n\n Magnum::Vector4& Light::attenuation() { return _attenuation; }\n Magnum::Vector4 Light::attenuation() const { return _attenuation; }\n\n Magnum::Matrix4 Light::shadow_matrix() const { return _shadow_transform; }\n\n bool Light::casts_shadows() const { return _cast_shadows; }\n\n Light& Light::set_position(const Magnum::Vector4& position)\n {\n _position = position;\n _transformed_position = position;\n return *this;\n }\n\n Light& Light::set_transformed_position(const Magnum::Vector4& transformed_position)\n {\n _transformed_position = transformed_position;\n return *this;\n }\n\n Light& Light::set_material(const Material& material)\n {\n _material = material;\n return *this;\n }\n\n Light& Light::set_spot_direction(const Magnum::Vector3& spot_direction)\n {\n _spot_direction = spot_direction;\n _transformed_spot_direction = _spot_direction;\n return *this;\n }\n\n Light& Light::set_transformed_spot_direction(const Magnum::Vector3& transformed_spot_direction)\n {\n _transformed_spot_direction = transformed_spot_direction;\n return *this;\n }\n\n Light& Light::set_spot_exponent(Magnum::Float spot_exponent)\n {\n _spot_exponent = spot_exponent;\n return *this;\n }\n\n Light& Light::set_spot_cut_off(Magnum::Float spot_cut_off)\n {\n _spot_cut_off = spot_cut_off;\n return *this;\n }\n\n Light& Light::set_attenuation(const Magnum::Vector4& attenuation)\n {\n _attenuation = attenuation;\n return *this;\n }\n\n Light& Light::set_shadow_matrix(const Magnum::Matrix4& shadowTransform)\n {\n _shadow_transform = shadowTransform;\n return *this;\n }\n\n Light& Light::set_casts_shadows(bool cast_shadows)\n {\n _cast_shadows = cast_shadows;\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > light.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/gs/material.hpp>#include <Magnum/Math/Matrix4.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/light.hpp
File List > gs > light.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_LIGHT_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_LIGHT_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Magnum/Math/Matrix4.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class Light {\n public:\n Light();\n\n Light(const Magnum::Vector4& position, const Material& material, const Magnum::Vector3& spot_direction,\n Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4& attenuation, bool cast_shadows = true);\n\n // Magnum::Vector4& position();\n Magnum::Vector4 position() const;\n Magnum::Vector4& transformed_position();\n Magnum::Vector4 transformed_position() const;\n\n Material& material();\n Material material() const;\n\n // Magnum::Vector3& spot_direction();\n Magnum::Vector3 spot_direction() const;\n\n Magnum::Vector3& transformed_spot_direction();\n Magnum::Vector3 transformed_spot_direction() const;\n\n Magnum::Float& spot_exponent();\n Magnum::Float spot_exponent() const;\n\n Magnum::Float& spot_cut_off();\n Magnum::Float spot_cut_off() const;\n\n Magnum::Vector4& attenuation();\n Magnum::Vector4 attenuation() const;\n\n Magnum::Matrix4 shadow_matrix() const;\n bool casts_shadows() const;\n\n Light& set_position(const Magnum::Vector4& position);\n Light& set_transformed_position(const Magnum::Vector4& transformed_position);\n\n Light& set_material(const Material& material);\n\n Light& set_spot_direction(const Magnum::Vector3& spot_direction);\n Light& set_transformed_spot_direction(const Magnum::Vector3& transformed_spot_direction);\n Light& set_spot_exponent(Magnum::Float spot_exponent);\n Light& set_spot_cut_off(Magnum::Float spot_cut_off);\n\n Light& set_attenuation(const Magnum::Vector4& attenuation);\n\n Light& set_shadow_matrix(const Magnum::Matrix4& shadowTransform);\n Light& set_casts_shadows(bool cast_shadows);\n\n protected:\n // Position for point-lights and spot-lights\n // Direction for directional lights (if position.w == 0)\n Magnum::Vector4 _position;\n // TO-DO: Handle dirtiness of transformed position\n Magnum::Vector4 _transformed_position;\n Material _material;\n Magnum::Vector3 _spot_direction;\n // TO-DO: Handle dirtiness of transformed spot direction\n Magnum::Vector3 _transformed_spot_direction;\n Magnum::Float _spot_exponent, _spot_cut_off;\n\n // Attenuation is: intensity/(constant + d * (linear + quadratic * d)\n // where d is the distance from the light position to the vertex position.\n //\n // (constant,linear,quadratic,intensity)\n Magnum::Vector4 _attenuation;\n\n // Shadow-Matrix\n Magnum::Matrix4 _shadow_transform{};\n\n // Whether it casts shadows\n bool _cast_shadows = true;\n };\n\n // Helpers for creating lights\n inline Light create_point_light(const Magnum::Vector3& position, const Material& material,\n Magnum::Float intensity, const Magnum::Vector3& attenuationTerms)\n {\n Light light;\n light.set_material(material);\n light.set_position(Magnum::Vector4{position, 1.f})\n .set_attenuation(Magnum::Vector4{attenuationTerms, intensity});\n\n return light;\n }\n\n inline Light create_spot_light(const Magnum::Vector3& position, const Material& material,\n const Magnum::Vector3& spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off,\n Magnum::Float intensity, const Magnum::Vector3& attenuationTerms)\n {\n return Light(Magnum::Vector4{position, 1.f}, material, spot_direction, spot_exponent, spot_cut_off,\n Magnum::Vector4{attenuationTerms, intensity});\n }\n\n inline Light create_directional_light(\n const Magnum::Vector3& direction, const Material& material)\n {\n Light light;\n light.set_material(material);\n light.set_position(Magnum::Vector4{direction, 0.f});\n\n return light;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > material.cpp
Go to the source code of this file
#include \"material.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/material.cpp
File List > gs > material.cpp
Go to the documentation of this file
#include \"material.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n Material::Material() : _ambient(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _diffuse(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _specular(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _shininess(2000.f) {}\n\n Material::Material(const Magnum::Color4& ambient, const Magnum::Color4& diffuse,\n const Magnum::Color4& specular, Magnum::Float shininess) : _ambient(ambient),\n _diffuse(diffuse),\n _specular(specular),\n _shininess(shininess) {}\n\n Material::Material(Magnum::GL::Texture2D* ambient_texture,\n Magnum::GL::Texture2D* diffuse_texture,\n Magnum::GL::Texture2D* specular_texture, Magnum::Float shininess) : _ambient(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _diffuse(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _specular(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _shininess(shininess),\n _ambient_texture(ambient_texture),\n _diffuse_texture(diffuse_texture),\n _specular_texture(specular_texture) {}\n\n Magnum::Color4& Material::ambient_color() { return _ambient; }\n Magnum::Color4 Material::ambient_color() const { return _ambient; }\n\n Magnum::Color4& Material::diffuse_color() { return _diffuse; }\n Magnum::Color4 Material::diffuse_color() const { return _diffuse; }\n\n Magnum::Color4& Material::specular_color() { return _specular; }\n Magnum::Color4 Material::specular_color() const { return _specular; }\n\n Magnum::Float& Material::shininess() { return _shininess; }\n Magnum::Float Material::shininess() const { return _shininess; }\n\n Magnum::GL::Texture2D* Material::ambient_texture() { return _ambient_texture; }\n Magnum::GL::Texture2D* Material::diffuse_texture() { return _diffuse_texture; }\n Magnum::GL::Texture2D* Material::specular_texture() { return _specular_texture; }\n\n bool Material::has_ambient_texture() const { return _ambient_texture != NULL; }\n bool Material::has_diffuse_texture() const { return _diffuse_texture != NULL; }\n bool Material::has_specular_texture() const { return _specular_texture != NULL; }\n\n Material& Material::set_ambient_color(const Magnum::Color4& ambient)\n {\n _ambient = ambient;\n return *this;\n }\n\n Material& Material::set_diffuse_color(const Magnum::Color4& diffuse)\n {\n _diffuse = diffuse;\n return *this;\n }\n\n Material& Material::set_specular_color(const Magnum::Color4& specular)\n {\n _specular = specular;\n return *this;\n }\n\n Material& Material::set_shininess(Magnum::Float shininess)\n {\n _shininess = shininess;\n return *this;\n }\n\n Material& Material::set_ambient_texture(Magnum::GL::Texture2D* ambient_texture)\n {\n _ambient_texture = ambient_texture;\n return *this;\n }\n\n Material& Material::set_diffuse_texture(Magnum::GL::Texture2D* diffuse_texture)\n {\n _diffuse_texture = diffuse_texture;\n return *this;\n }\n\n Material& Material::set_specular_texture(Magnum::GL::Texture2D* specular_texture)\n {\n _specular_texture = specular_texture;\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > material.hpp
Go to the source code of this file
#include <Corrade/Containers/Optional.h>#include <Magnum/GL/GL.h>#include <Magnum/Magnum.h>#include <Magnum/Math/Color.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/material.hpp
File List > gs > material.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_MATERIAL_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_MATERIAL_HPP\n\n#include <Corrade/Containers/Optional.h>\n\n#include <Magnum/GL/GL.h>\n#include <Magnum/Magnum.h>\n#include <Magnum/Math/Color.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class Material {\n public:\n Material();\n\n Material(const Magnum::Color4& ambient, const Magnum::Color4& diffuse,\n const Magnum::Color4& specular, Magnum::Float shininess);\n\n Material(Magnum::GL::Texture2D* ambient_texture,\n Magnum::GL::Texture2D* diffuse_texture,\n Magnum::GL::Texture2D* specular_texture, Magnum::Float shininess);\n\n Magnum::Color4& ambient_color();\n Magnum::Color4 ambient_color() const;\n\n Magnum::Color4& diffuse_color();\n Magnum::Color4 diffuse_color() const;\n\n Magnum::Color4& specular_color();\n Magnum::Color4 specular_color() const;\n\n Magnum::Float& shininess();\n Magnum::Float shininess() const;\n\n Magnum::GL::Texture2D* ambient_texture();\n Magnum::GL::Texture2D* diffuse_texture();\n Magnum::GL::Texture2D* specular_texture();\n\n bool has_ambient_texture() const;\n bool has_diffuse_texture() const;\n bool has_specular_texture() const;\n\n Material& set_ambient_color(const Magnum::Color4& ambient);\n Material& set_diffuse_color(const Magnum::Color4& diffuse);\n Material& set_specular_color(const Magnum::Color4& specular);\n Material& set_shininess(Magnum::Float shininess);\n\n Material& set_ambient_texture(Magnum::GL::Texture2D* ambient_texture);\n Material& set_diffuse_texture(Magnum::GL::Texture2D* diffuse_texture);\n Material& set_specular_texture(Magnum::GL::Texture2D* specular_texture);\n\n protected:\n Magnum::Color4 _ambient, _diffuse, _specular;\n Magnum::Float _shininess;\n Magnum::GL::Texture2D* _ambient_texture = NULL;\n Magnum::GL::Texture2D* _diffuse_texture = NULL;\n Magnum::GL::Texture2D* _specular_texture = NULL;\n };\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > phong_multi_light.cpp
Go to the source code of this file
#include \"phong_multi_light.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/CubeMapTextureArray.h>#include <Magnum/GL/Texture.h>#include <Magnum/GL/TextureArray.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/phong_multi_light.cpp
File List > gs > phong_multi_light.cpp
Go to the documentation of this file
#include \"phong_multi_light.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/CubeMapTextureArray.h>\n#include <Magnum/GL/Texture.h>\n#include <Magnum/GL/TextureArray.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n PhongMultiLight::PhongMultiLight(PhongMultiLight::Flags flags, Magnum::Int max_lights) : _flags(flags), _max_lights(max_lights)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define LIGHT_COUNT \" + std::to_string(_max_lights) + \"\\n\";\n defines += \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define NORMAL_ATTRIBUTE_LOCATION \" + std::to_string(Normal::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"PhongMultiLight.vert\"));\n frag.addSource(flags & Flag::AmbientTexture ? \"#define AMBIENT_TEXTURE\\n\" : \"\")\n .addSource(flags & Flag::DiffuseTexture ? \"#define DIFFUSE_TEXTURE\\n\" : \"\")\n .addSource(flags & Flag::SpecularTexture ? \"#define SPECULAR_TEXTURE\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"PhongMultiLight.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n attachShaders({vert, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n bindAttributeLocation(Normal::Location, \"normal\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n /* Get light matrices uniform */\n _lights_matrices_uniform = uniformLocation(\"lightMatrices[0]\");\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n _camera_matrix_uniform = uniformLocation(\"cameraMatrix\");\n _normal_matrix_uniform = uniformLocation(\"normalMatrix\");\n _lights_uniform = uniformLocation(\"lights[0].position\");\n _lights_matrices_uniform = uniformLocation(\"lightMatrices[0]\");\n _ambient_color_uniform = uniformLocation(\"ambientColor\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n _specular_color_uniform = uniformLocation(\"specularColor\");\n _shininess_uniform = uniformLocation(\"shininess\");\n _far_plane_uniform = uniformLocation(\"farPlane\");\n _specular_strength_uniform = uniformLocation(\"specularStrength\");\n _is_shadowed_uniform = uniformLocation(\"isShadowed\");\n _transparent_shadows_uniform = uniformLocation(\"drawTransparentShadows\");\n }\n\n if (!Magnum::GL::Context::current()\n .isExtensionSupported<Magnum::GL::Extensions::ARB::shading_language_420pack>(version)) {\n setUniform(uniformLocation(\"shadowTextures\"), _shadow_textures_location);\n setUniform(uniformLocation(\"cubeMapTextures\"), _cube_map_textures_location);\n setUniform(uniformLocation(\"shadowColorTextures\"), _shadow_color_textures_location);\n setUniform(uniformLocation(\"cubeMapColorTextures\"), _cube_map_color_textures_location);\n if (flags) {\n if (flags & Flag::AmbientTexture)\n setUniform(uniformLocation(\"ambientTexture\"), AmbientTextureLayer);\n if (flags & Flag::DiffuseTexture)\n setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n if (flags & Flag::SpecularTexture)\n setUniform(uniformLocation(\"specularTexture\"), SpecularTextureLayer);\n }\n }\n\n /* Set defaults (normally they are set in shader code itself, but just in case) */\n Material material;\n\n /* Default to fully opaque white so we can see the textures */\n if (flags & Flag::AmbientTexture)\n material.set_ambient_color(Magnum::Color4{1.0f});\n else\n material.set_ambient_color(Magnum::Color4{0.0f, 1.0f});\n\n if (flags & Flag::DiffuseTexture)\n material.set_diffuse_color(Magnum::Color4{1.0f});\n\n material.set_specular_color(Magnum::Color4{1.0f});\n material.set_shininess(80.0f);\n\n set_material(material);\n\n /* Lights defaults need to be set by code */\n /* All lights are disabled i.e., color equal to black */\n Light light;\n for (Magnum::Int i = 0; i < _max_lights; i++)\n set_light(i, light);\n }\n\n PhongMultiLight::PhongMultiLight(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n PhongMultiLight::Flags PhongMultiLight::flags() const { return _flags; }\n\n PhongMultiLight& PhongMultiLight::set_material(Material& material)\n {\n // TO-DO: Check if we should do this or let the user define the proper\n // material\n if (material.has_ambient_texture() && (_flags & Flag::AmbientTexture)) {\n (*material.ambient_texture()).bind(AmbientTextureLayer);\n setUniform(_ambient_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_ambient_color_uniform, material.ambient_color());\n\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n if (material.has_specular_texture() && (_flags & Flag::SpecularTexture)) {\n (*material.specular_texture()).bind(SpecularTextureLayer);\n setUniform(_specular_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_specular_color_uniform, material.specular_color());\n\n setUniform(_shininess_uniform, material.shininess());\n\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_light(Magnum::Int i, const Light& light)\n {\n CORRADE_INTERNAL_ASSERT(i >= 0 && i < _max_lights);\n Magnum::Vector4 attenuation = light.attenuation();\n\n // light position\n setUniform(_lights_uniform + i * _light_loc_size, light.transformed_position());\n // light material\n setUniform(_lights_uniform + i * _light_loc_size + 1, light.material().ambient_color());\n setUniform(_lights_uniform + i * _light_loc_size + 2, light.material().diffuse_color());\n setUniform(_lights_uniform + i * _light_loc_size + 3, light.material().specular_color());\n // spotlight properties\n setUniform(_lights_uniform + i * _light_loc_size + 4, light.transformed_spot_direction());\n setUniform(_lights_uniform + i * _light_loc_size + 5, light.spot_exponent());\n setUniform(_lights_uniform + i * _light_loc_size + 6, light.spot_cut_off());\n // intesity\n setUniform(_lights_uniform + i * _light_loc_size + 7, attenuation[3]);\n // constant attenuation term\n setUniform(_lights_uniform + i * _light_loc_size + 8, attenuation[0]);\n // linear attenuation term\n setUniform(_lights_uniform + i * _light_loc_size + 9, attenuation[1]);\n // quadratic attenuation term\n setUniform(_lights_uniform + i * _light_loc_size + 10, attenuation[2]);\n // world position\n setUniform(_lights_uniform + i * _light_loc_size + 11, light.position());\n // casts shadows?\n setUniform(_lights_uniform + i * _light_loc_size + 12, light.casts_shadows());\n\n setUniform(_lights_matrices_uniform + i, light.shadow_matrix());\n\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_camera_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_camera_matrix_uniform, matrix);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_normal_matrix(const Magnum::Matrix3x3& matrix)\n {\n setUniform(_normal_matrix_uniform, matrix);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_projection_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_projection_matrix_uniform, matrix);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_far_plane(Magnum::Float far_plane)\n {\n setUniform(_far_plane_uniform, far_plane);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_is_shadowed(bool shadows)\n {\n setUniform(_is_shadowed_uniform, shadows);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_transparent_shadows(bool shadows)\n {\n setUniform(_transparent_shadows_uniform, shadows);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_specular_strength(Magnum::Float specular_strength)\n {\n setUniform(_specular_strength_uniform, std::max(0.f, specular_strength));\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::bind_shadow_texture(Magnum::GL::Texture2DArray& texture)\n {\n texture.bind(_shadow_textures_location);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::bind_shadow_color_texture(Magnum::GL::Texture2DArray& texture)\n {\n texture.bind(_shadow_color_textures_location);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::bind_cube_map_texture(Magnum::GL::CubeMapTextureArray& texture)\n {\n texture.bind(_cube_map_textures_location);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::bind_cube_map_color_texture(Magnum::GL::CubeMapTextureArray& texture)\n {\n texture.bind(_cube_map_color_textures_location);\n return *this;\n }\n\n Magnum::Int PhongMultiLight::max_lights() const { return _max_lights; }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > phong_multi_light.hpp
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#include <robot_dart/gui/magnum/gs/light.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/phong_multi_light.hpp
File List > gs > phong_multi_light.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_PHONG_MULTI_LIGHT_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_PHONG_MULTI_LIGHT_HPP\n\n#include <robot_dart/gui/magnum/gs/light.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class PhongMultiLight : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using Normal = Magnum::Shaders::Generic3D::Normal;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n AmbientTexture = 1 << 0, \n DiffuseTexture = 1 << 1, \n SpecularTexture = 1 << 2 \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit PhongMultiLight(Flags flags = {}, Magnum::Int max_lights = 10);\n explicit PhongMultiLight(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n PhongMultiLight& set_material(Material& material);\n PhongMultiLight& set_light(Magnum::Int i, const Light& light);\n\n PhongMultiLight& set_transformation_matrix(const Magnum::Matrix4& matrix);\n PhongMultiLight& set_camera_matrix(const Magnum::Matrix4& matrix);\n PhongMultiLight& set_normal_matrix(const Magnum::Matrix3x3& matrix);\n PhongMultiLight& set_projection_matrix(const Magnum::Matrix4& matrix);\n\n PhongMultiLight& set_far_plane(Magnum::Float far_plane);\n PhongMultiLight& set_is_shadowed(bool shadows);\n PhongMultiLight& set_transparent_shadows(bool shadows);\n PhongMultiLight& set_specular_strength(Magnum::Float specular_strength);\n\n PhongMultiLight& bind_shadow_texture(Magnum::GL::Texture2DArray& texture);\n PhongMultiLight& bind_shadow_color_texture(Magnum::GL::Texture2DArray& texture);\n PhongMultiLight& bind_cube_map_texture(Magnum::GL::CubeMapTextureArray& texture);\n PhongMultiLight& bind_cube_map_color_texture(Magnum::GL::CubeMapTextureArray& texture);\n\n Magnum::Int max_lights() const;\n\n private:\n Flags _flags;\n Magnum::Int _max_lights = 10;\n Magnum::Int _transformation_matrix_uniform{0}, _camera_matrix_uniform{7}, _projection_matrix_uniform{1}, _normal_matrix_uniform{2},\n _shininess_uniform{3}, _ambient_color_uniform{4}, _diffuse_color_uniform{5}, _specular_color_uniform{6}, _specular_strength_uniform{11},\n _lights_uniform{12}, _lights_matrices_uniform, _far_plane_uniform{8}, _is_shadowed_uniform{9}, _transparent_shadows_uniform{10},\n _shadow_textures_location{3}, _cube_map_textures_location{4}, _shadow_color_textures_location{5}, _cube_map_color_textures_location{6};\n const Magnum::Int _light_loc_size = 13;\n };\n\n CORRADE_ENUMSET_OPERATORS(PhongMultiLight::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > shadow_map.cpp
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#include \"shadow_map.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map.cpp
File List > gs > shadow_map.cpp
Go to the documentation of this file
#include \"shadow_map.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n ShadowMap::ShadowMap(ShadowMap::Flags flags) : _flags(flags)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"ShadowMap.vert\"));\n frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"ShadowMap.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n attachShaders({vert, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n }\n\n if (!Magnum::GL::Context::current()\n .isExtensionSupported<Magnum::GL::Extensions::ARB::shading_language_420pack>(version)\n && flags) {\n setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n }\n }\n\n ShadowMap::ShadowMap(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n ShadowMap::Flags ShadowMap::flags() const { return _flags; }\n\n ShadowMap& ShadowMap::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n ShadowMap& ShadowMap::set_projection_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_projection_matrix_uniform, matrix);\n return *this;\n }\n\n ShadowMap& ShadowMap::set_material(Material& material)\n {\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > shadow_map.hpp
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#include <robot_dart/gui/magnum/gs/material.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map.hpp
File List > gs > shadow_map.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class ShadowMap : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n DiffuseTexture = 1 << 0, \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit ShadowMap(Flags flags = {});\n explicit ShadowMap(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n ShadowMap& set_transformation_matrix(const Magnum::Matrix4& matrix);\n ShadowMap& set_projection_matrix(const Magnum::Matrix4& matrix);\n ShadowMap& set_material(Material& material);\n\n private:\n Flags _flags;\n Magnum::Int _transformation_matrix_uniform{0}, _projection_matrix_uniform{1}, _diffuse_color_uniform{2};\n };\n\n CORRADE_ENUMSET_OPERATORS(ShadowMap::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > shadow_map_color.cpp
Go to the source code of this file
#include \"shadow_map_color.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map_color.cpp
File List > gs > shadow_map_color.cpp
Go to the documentation of this file
#include \"shadow_map_color.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n ShadowMapColor::ShadowMapColor(ShadowMapColor::Flags flags) : _flags(flags)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"ShadowMap.vert\"));\n frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"ShadowMapColor.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n attachShaders({vert, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n }\n\n if (!Magnum::GL::Context::current()\n .isExtensionSupported<Magnum::GL::Extensions::ARB::shading_language_420pack>(version)\n && flags) {\n setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n }\n }\n\n ShadowMapColor::ShadowMapColor(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n ShadowMapColor::Flags ShadowMapColor::flags() const { return _flags; }\n\n ShadowMapColor& ShadowMapColor::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n ShadowMapColor& ShadowMapColor::set_projection_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_projection_matrix_uniform, matrix);\n return *this;\n }\n\n ShadowMapColor& ShadowMapColor::set_material(Material& material)\n {\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > shadow_map_color.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/gs/material.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map_color.hpp
File List > gs > shadow_map_color.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_COLOR_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_COLOR_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class ShadowMapColor : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n DiffuseTexture = 1 << 0, \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit ShadowMapColor(Flags flags = {});\n explicit ShadowMapColor(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n ShadowMapColor& set_transformation_matrix(const Magnum::Matrix4& matrix);\n ShadowMapColor& set_projection_matrix(const Magnum::Matrix4& matrix);\n ShadowMapColor& set_material(Material& material);\n\n private:\n Flags _flags;\n Magnum::Int _transformation_matrix_uniform{0}, _projection_matrix_uniform{1}, _diffuse_color_uniform{2};\n };\n\n CORRADE_ENUMSET_OPERATORS(ShadowMapColor::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > sensor
"},{"location":"api/dir_2c74a777547786aaf50e99ba400e19fa/#files","title":"Files","text":"Type Name file camera.cpp file camera.hppThe documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/
FileList > gui > magnum > sensor > camera.cpp
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#include \"camera.hpp\"#include <Corrade/Containers/ArrayViewStl.h>#include <Corrade/Containers/StridedArrayView.h>#include <Corrade/Utility/Algorithms.h>#include <Magnum/GL/PixelFormat.h>#include <Magnum/GL/RenderbufferFormat.h>#include <Magnum/GL/Renderer.h>#include <Magnum/GL/TextureFormat.h>#include <Magnum/ImageView.h>#include <Magnum/PixelFormat.h>#include <robot_dart/gui/magnum/utils_headers_eigen.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.cpp
File: api/sensor_2camera_8cpp_source.md
Line 46 in Markdown file: unexpected '}'
_framebuffer = Magnum::GL::Framebuffer({{}, {w, h}});\nFileList > gui > magnum > sensor > camera.hpp
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#include <robot_dart/gui/magnum/base_application.hpp>#include <robot_dart/gui/magnum/gs/helper.hpp>#include <robot_dart/sensor/sensor.hpp>#include <Magnum/GL/Framebuffer.h>#include <Magnum/GL/Renderbuffer.h>#include <Magnum/PixelFormat.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.hpp
File List > gui > magnum > sensor > camera.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_SENSOR_CAMERA_HPP\n#define ROBOT_DART_GUI_MAGNUM_SENSOR_CAMERA_HPP\n\n#include <robot_dart/gui/magnum/base_application.hpp>\n#include <robot_dart/gui/magnum/gs/helper.hpp>\n#include <robot_dart/sensor/sensor.hpp>\n\n#include <Magnum/GL/Framebuffer.h>\n#include <Magnum/GL/Renderbuffer.h>\n#include <Magnum/PixelFormat.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace sensor {\n class Camera : public robot_dart::sensor::Sensor {\n public:\n Camera(BaseApplication* app, size_t width, size_t height, size_t freq = 30, bool draw_debug = false);\n ~Camera() {}\n\n void init() override;\n\n void calculate(double) override;\n\n std::string type() const override;\n\n void attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity()) override;\n\n void attach_to_joint(dart::dynamics::Joint*, const Eigen::Isometry3d&) override\n {\n ROBOT_DART_WARNING(true, \"You cannot attach a camera to a joint!\");\n }\n\n gs::Camera& camera() { return *_camera; }\n const gs::Camera& camera() const { return *_camera; }\n\n Eigen::Matrix3d camera_intrinsic_matrix() const;\n Eigen::Matrix4d camera_extrinsic_matrix() const;\n\n bool drawing_debug() const { return _draw_debug; }\n void draw_debug(bool draw = true) { _draw_debug = draw; }\n\n void look_at(const Eigen::Vector3d& camera_pos, const Eigen::Vector3d& look_at = Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d& up = Eigen::Vector3d(0, 0, 1));\n\n // this will use the default FPS of the camera if fps == -1\n void record_video(const std::string& video_fname)\n {\n _camera->record_video(video_fname, _frequency);\n }\n\n Magnum::Image2D* magnum_image()\n {\n if (_camera->image())\n return &(*_camera->image());\n return nullptr;\n }\n\n Image image()\n {\n auto image = magnum_image();\n if (image)\n return gs::rgb_from_image(image);\n return Image();\n }\n\n Magnum::Image2D* magnum_depth_image()\n {\n if (_camera->depth_image())\n return &(*_camera->depth_image());\n return nullptr;\n }\n\n // This is for visualization purposes\n GrayscaleImage depth_image();\n\n // Image filled with depth buffer values\n GrayscaleImage raw_depth_image();\n\n // \"Image\" filled with depth buffer values (this returns an array of doubles)\n DepthImage depth_array();\n\n protected:\n Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};\n Magnum::PixelFormat _format;\n Magnum::GL::Renderbuffer _color, _depth;\n\n BaseApplication* _magnum_app;\n size_t _width, _height;\n\n std::unique_ptr<gs::Camera> _camera;\n\n bool _draw_debug;\n };\n } // namespace sensor\n } // namespace magnum\n } // namespace gui\n\n namespace sensor {\n using gui::magnum::sensor::Camera;\n }\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > types.hpp
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#include <Magnum/SceneGraph/Camera.h>#include <Magnum/SceneGraph/MatrixTransformation3D.h>#include <Magnum/SceneGraph/Scene.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/types.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_TYPES_HPP\n#define ROBOT_DART_GUI_MAGNUM_TYPES_HPP\n\n#include <Magnum/SceneGraph/Camera.h>\n#include <Magnum/SceneGraph/MatrixTransformation3D.h>\n#include <Magnum/SceneGraph/Scene.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n using Object3D = Magnum::SceneGraph::Object<Magnum::SceneGraph::MatrixTransformation3D>;\n using Scene3D = Magnum::SceneGraph::Scene<Magnum::SceneGraph::MatrixTransformation3D>;\n using Camera3D = Magnum::SceneGraph::Camera3D;\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > utils_headers_eigen.hpp
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#include <Magnum/EigenIntegration/GeometryIntegration.h>#include <Magnum/EigenIntegration/Integration.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/utils_headers_eigen.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_UTILS_HEADERS_EXTERNAL_GUI_HPP\n#define ROBOT_DART_GUI_MAGNUM_UTILS_HEADERS_EXTERNAL_GUI_HPP\n\n#pragma GCC system_header\n\n#include <Magnum/EigenIntegration/GeometryIntegration.h>\n#include <Magnum/EigenIntegration/Integration.h>\n\n#endif\nFileList > gui > magnum > windowless_gl_application.cpp
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#include \"windowless_gl_application.hpp\"#include <Magnum/GL/RenderbufferFormat.h>#include <Magnum/GL/Renderer.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_gl_application.cpp
File: api/windowless__gl__application_8cpp_source.md
Line 42 in Markdown file: unexpected '}'
_framebuffer = Magnum::GL::Framebuffer({{}, {w, h}});\nFileList > gui > magnum > windowless_gl_application.hpp
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#include <robot_dart/gui/magnum/base_application.hpp>#include <Magnum/GL/Renderbuffer.h>#include <Magnum/PixelFormat.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_gl_application.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GLX_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_GLX_APPLICATION_HPP\n\n#include <robot_dart/gui/magnum/base_application.hpp>\n\n#include <Magnum/GL/Renderbuffer.h>\n#include <Magnum/PixelFormat.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n class WindowlessGLApplication : public BaseApplication, public Magnum::Platform::WindowlessApplication {\n public:\n explicit WindowlessGLApplication(int argc, char** argv, RobotDARTSimu* simu, const GraphicsConfiguration& configuration = GraphicsConfiguration());\n ~WindowlessGLApplication();\n\n void render() override;\n\n protected:\n RobotDARTSimu* _simu;\n bool _draw_main_camera, _draw_debug;\n Magnum::Color4 _bg_color;\n Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};\n Magnum::PixelFormat _format;\n Magnum::GL::Renderbuffer _color{Magnum::NoCreate}, _depth{Magnum::NoCreate};\n // size_t _index = 0;\n\n virtual int exec() override { return 0; }\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > windowless_graphics.cpp
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#include <robot_dart/gui/magnum/windowless_graphics.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_graphics.cpp
File List > gui > magnum > windowless_graphics.cpp
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#include <robot_dart/gui/magnum/windowless_graphics.hpp>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n void WindowlessGraphics::set_simu(RobotDARTSimu* simu)\n {\n BaseGraphics<WindowlessGLApplication>::set_simu(simu);\n // we should not synchronize by default if we want windowless graphics (usually used only for sensors)\n simu->scheduler().set_sync(false);\n // disable summary text when windowless graphics activated\n simu->enable_text_panel(false);\n simu->enable_status_bar(false);\n }\n\n GraphicsConfiguration WindowlessGraphics::default_configuration()\n {\n GraphicsConfiguration config;\n // by default we do not draw text in windowless mode\n config.draw_debug = false;\n config.draw_text = false;\n\n return config;\n }\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gui > magnum > windowless_graphics.hpp
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#include <robot_dart/gui/magnum/base_graphics.hpp>#include <robot_dart/gui/magnum/windowless_gl_application.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_graphics.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_WINDOWLESS_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_WINDOWLESS_GRAPHICS_HPP\n\n#include <robot_dart/gui/magnum/base_graphics.hpp>\n#include <robot_dart/gui/magnum/windowless_gl_application.hpp>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n class WindowlessGraphics : public BaseGraphics<WindowlessGLApplication> {\n public:\n WindowlessGraphics(const GraphicsConfiguration& configuration = default_configuration()) : BaseGraphics<WindowlessGLApplication>(configuration) {}\n ~WindowlessGraphics() {}\n\n void set_simu(RobotDARTSimu* simu) override;\n\n static GraphicsConfiguration default_configuration();\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > stb_image_write.h
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#include <stdlib.h>typedef void stbi_write_func(void *context, void *data, int size);\nint stbi_write_force_png_filter;\nint stbi_write_png_compression_level;\nint stbi_write_tga_with_rle;\nSTBIWDEF void stbi_flip_vertically_on_write (\n int flip_boolean\n) \nSTBIWDEF int stbi_write_bmp (\n char const * filename,\n int w,\n int h,\n int comp,\n const void * data\n) \nSTBIWDEF int stbi_write_bmp_to_func (\n stbi_write_func * func,\n void * context,\n int w,\n int h,\n int comp,\n const void * data\n) \nSTBIWDEF int stbi_write_hdr (\n char const * filename,\n int w,\n int h,\n int comp,\n const float * data\n) \nSTBIWDEF int stbi_write_hdr_to_func (\n stbi_write_func * func,\n void * context,\n int w,\n int h,\n int comp,\n const float * data\n) \nSTBIWDEF int stbi_write_jpg (\n char const * filename,\n int x,\n int y,\n int comp,\n const void * data,\n int quality\n) \nSTBIWDEF int stbi_write_jpg_to_func (\n stbi_write_func * func,\n void * context,\n int x,\n int y,\n int comp,\n const void * data,\n int quality\n) \nSTBIWDEF int stbi_write_png (\n char const * filename,\n int w,\n int h,\n int comp,\n const void * data,\n int stride_in_bytes\n) \nSTBIWDEF int stbi_write_png_to_func (\n stbi_write_func * func,\n void * context,\n int w,\n int h,\n int comp,\n const void * data,\n int stride_in_bytes\n) \nSTBIWDEF int stbi_write_tga (\n char const * filename,\n int w,\n int h,\n int comp,\n const void * data\n) \nSTBIWDEF int stbi_write_tga_to_func (\n stbi_write_func * func,\n void * context,\n int w,\n int h,\n int comp,\n const void * data\n) \n#define STBIWDEF extern\nThe documentation for this class was generated from the following file robot_dart/gui/stb_image_write.h
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/* stb_image_write - v1.13 - public domain - http://nothings.org/stb\n writes out PNG/BMP/TGA/JPEG/HDR images to C stdio - Sean Barrett 2010-2015\n no warranty implied; use at your own risk\n\n Before #including,\n\n #define STB_IMAGE_WRITE_IMPLEMENTATION\n\n in the file that you want to have the implementation.\n\n Will probably not work correctly with strict-aliasing optimizations.\n\nABOUT:\n\n This header file is a library for writing images to C stdio or a callback.\n\n The PNG output is not optimal; it is 20-50% larger than the file\n written by a decent optimizing implementation; though providing a custom\n zlib compress function (see STBIW_ZLIB_COMPRESS) can mitigate that.\n This library is designed for source code compactness and simplicity,\n not optimal image file size or run-time performance.\n\nBUILDING:\n\n You can #define STBIW_ASSERT(x) before the #include to avoid using assert.h.\n You can #define STBIW_MALLOC(), STBIW_REALLOC(), and STBIW_FREE() to replace\n malloc,realloc,free.\n You can #define STBIW_MEMMOVE() to replace memmove()\n You can #define STBIW_ZLIB_COMPRESS to use a custom zlib-style compress function\n for PNG compression (instead of the builtin one), it must have the following signature:\n unsigned char * my_compress(unsigned char *data, int data_len, int *out_len, int quality);\n The returned data will be freed with STBIW_FREE() (free() by default),\n so it must be heap allocated with STBIW_MALLOC() (malloc() by default),\n\nUNICODE:\n\n If compiling for Windows and you wish to use Unicode filenames, compile\n with\n #define STBIW_WINDOWS_UTF8\n and pass utf8-encoded filenames. Call stbiw_convert_wchar_to_utf8 to convert\n Windows wchar_t filenames to utf8.\n\nUSAGE:\n\n There are five functions, one for each image file format:\n\n int stbi_write_png(char const *filename, int w, int h, int comp, const void *data, int stride_in_bytes);\n int stbi_write_bmp(char const *filename, int w, int h, int comp, const void *data);\n int stbi_write_tga(char const *filename, int w, int h, int comp, const void *data);\n int stbi_write_jpg(char const *filename, int w, int h, int comp, const void *data, int quality);\n int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);\n\n void stbi_flip_vertically_on_write(int flag); // flag is non-zero to flip data vertically\n\n There are also five equivalent functions that use an arbitrary write function. You are\n expected to open/close your file-equivalent before and after calling these:\n\n int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data, int stride_in_bytes);\n int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);\n int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);\n int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);\n int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality);\n\n where the callback is:\n void stbi_write_func(void *context, void *data, int size);\n\n You can configure it with these global variables:\n int stbi_write_tga_with_rle; // defaults to true; set to 0 to disable RLE\n int stbi_write_png_compression_level; // defaults to 8; set to higher for more compression\n int stbi_write_force_png_filter; // defaults to -1; set to 0..5 to force a filter mode\n\n\n You can define STBI_WRITE_NO_STDIO to disable the file variant of these\n functions, so the library will not use stdio.h at all. However, this will\n also disable HDR writing, because it requires stdio for formatted output.\n\n Each function returns 0 on failure and non-0 on success.\n\n The functions create an image file defined by the parameters. The image\n is a rectangle of pixels stored from left-to-right, top-to-bottom.\n Each pixel contains 'comp' channels of data stored interleaved with 8-bits\n per channel, in the following order: 1=Y, 2=YA, 3=RGB, 4=RGBA. (Y is\n monochrome color.) The rectangle is 'w' pixels wide and 'h' pixels tall.\n The *data pointer points to the first byte of the top-left-most pixel.\n For PNG, \"stride_in_bytes\" is the distance in bytes from the first byte of\n a row of pixels to the first byte of the next row of pixels.\n\n PNG creates output files with the same number of components as the input.\n The BMP format expands Y to RGB in the file format and does not\n output alpha.\n\n PNG supports writing rectangles of data even when the bytes storing rows of\n data are not consecutive in memory (e.g. sub-rectangles of a larger image),\n by supplying the stride between the beginning of adjacent rows. The other\n formats do not. (Thus you cannot write a native-format BMP through the BMP\n writer, both because it is in BGR order and because it may have padding\n at the end of the line.)\n\n PNG allows you to set the deflate compression level by setting the global\n variable 'stbi_write_png_compression_level' (it defaults to 8).\n\n HDR expects linear float data. Since the format is always 32-bit rgb(e)\n data, alpha (if provided) is discarded, and for monochrome data it is\n replicated across all three channels.\n\n TGA supports RLE or non-RLE compressed data. To use non-RLE-compressed\n data, set the global variable 'stbi_write_tga_with_rle' to 0.\n\n JPEG does ignore alpha channels in input data; quality is between 1 and 100.\n Higher quality looks better but results in a bigger image.\n JPEG baseline (no JPEG progressive).\n\nCREDITS:\n\n\n Sean Barrett - PNG/BMP/TGA \n Baldur Karlsson - HDR\n Jean-Sebastien Guay - TGA monochrome\n Tim Kelsey - misc enhancements\n Alan Hickman - TGA RLE\n Emmanuel Julien - initial file IO callback implementation\n Jon Olick - original jo_jpeg.cpp code\n Daniel Gibson - integrate JPEG, allow external zlib\n Aarni Koskela - allow choosing PNG filter\n\n bugfixes:\n github:Chribba\n Guillaume Chereau\n github:jry2\n github:romigrou\n Sergio Gonzalez\n Jonas Karlsson\n Filip Wasil\n Thatcher Ulrich\n github:poppolopoppo\n Patrick Boettcher\n github:xeekworx\n Cap Petschulat\n Simon Rodriguez\n Ivan Tikhonov\n github:ignotion\n Adam Schackart\n\nLICENSE\n\n See end of file for license information.\n\n*/\n\n#pragma GCC system_header\n\n#ifndef INCLUDE_STB_IMAGE_WRITE_H\n#define INCLUDE_STB_IMAGE_WRITE_H\n\n#include <stdlib.h>\n\n// if STB_IMAGE_WRITE_STATIC causes problems, try defining STBIWDEF to 'inline' or 'static inline'\n#ifndef STBIWDEF\n#ifdef STB_IMAGE_WRITE_STATIC\n#define STBIWDEF static\n#else\n#ifdef __cplusplus\n#define STBIWDEF extern \"C\"\n#else\n#define STBIWDEF extern\n#endif\n#endif\n#endif\n\n#ifndef STB_IMAGE_WRITE_STATIC // C++ forbids static forward declarations\nextern int stbi_write_tga_with_rle;\nextern int stbi_write_png_compression_level;\nextern int stbi_write_force_png_filter;\n#endif\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_png(char const *filename, int w, int h, int comp, const void *data, int stride_in_bytes);\nSTBIWDEF int stbi_write_bmp(char const *filename, int w, int h, int comp, const void *data);\nSTBIWDEF int stbi_write_tga(char const *filename, int w, int h, int comp, const void *data);\nSTBIWDEF int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);\nSTBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void *data, int quality);\n\n#ifdef STBI_WINDOWS_UTF8\nSTBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input);\n#endif\n#endif\n\ntypedef void stbi_write_func(void *context, void *data, int size);\n\nSTBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data, int stride_in_bytes);\nSTBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);\nSTBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);\nSTBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);\nSTBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality);\n\nSTBIWDEF void stbi_flip_vertically_on_write(int flip_boolean);\n\n#endif//INCLUDE_STB_IMAGE_WRITE_H\n\n#ifdef STB_IMAGE_WRITE_IMPLEMENTATION\n\n#ifdef _WIN32\n #ifndef _CRT_SECURE_NO_WARNINGS\n #define _CRT_SECURE_NO_WARNINGS\n #endif\n #ifndef _CRT_NONSTDC_NO_DEPRECATE\n #define _CRT_NONSTDC_NO_DEPRECATE\n #endif\n#endif\n\n#ifndef STBI_WRITE_NO_STDIO\n#include <stdio.h>\n#endif // STBI_WRITE_NO_STDIO\n\n#include <stdarg.h>\n#include <stdlib.h>\n#include <string.h>\n#include <math.h>\n\n#if defined(STBIW_MALLOC) && defined(STBIW_FREE) && (defined(STBIW_REALLOC) || defined(STBIW_REALLOC_SIZED))\n// ok\n#elif !defined(STBIW_MALLOC) && !defined(STBIW_FREE) && !defined(STBIW_REALLOC) && !defined(STBIW_REALLOC_SIZED)\n// ok\n#else\n#error \"Must define all or none of STBIW_MALLOC, STBIW_FREE, and STBIW_REALLOC (or STBIW_REALLOC_SIZED).\"\n#endif\n\n#ifndef STBIW_MALLOC\n#define STBIW_MALLOC(sz) malloc(sz)\n#define STBIW_REALLOC(p,newsz) realloc(p,newsz)\n#define STBIW_FREE(p) free(p)\n#endif\n\n#ifndef STBIW_REALLOC_SIZED\n#define STBIW_REALLOC_SIZED(p,oldsz,newsz) STBIW_REALLOC(p,newsz)\n#endif\n\n\n#ifndef STBIW_MEMMOVE\n#define STBIW_MEMMOVE(a,b,sz) memmove(a,b,sz)\n#endif\n\n\n#ifndef STBIW_ASSERT\n#include <assert.h>\n#define STBIW_ASSERT(x) assert(x)\n#endif\n\n#define STBIW_UCHAR(x) (unsigned char) ((x) & 0xff)\n\n#ifdef STB_IMAGE_WRITE_STATIC\nstatic int stbi__flip_vertically_on_write=0;\nstatic int stbi_write_png_compression_level = 8;\nstatic int stbi_write_tga_with_rle = 1;\nstatic int stbi_write_force_png_filter = -1;\n#else\nint stbi_write_png_compression_level = 8;\nint stbi__flip_vertically_on_write=0;\nint stbi_write_tga_with_rle = 1;\nint stbi_write_force_png_filter = -1;\n#endif\n\nSTBIWDEF void stbi_flip_vertically_on_write(int flag)\n{\n stbi__flip_vertically_on_write = flag;\n}\n\ntypedef struct\n{\n stbi_write_func *func;\n void *context;\n} stbi__write_context;\n\n// initialize a callback-based context\nstatic void stbi__start_write_callbacks(stbi__write_context *s, stbi_write_func *c, void *context)\n{\n s->func = c;\n s->context = context;\n}\n\n#ifndef STBI_WRITE_NO_STDIO\n\nstatic void stbi__stdio_write(void *context, void *data, int size)\n{\n fwrite(data,1,size,(FILE*) context);\n}\n\n#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)\n#ifdef __cplusplus\n#define STBIW_EXTERN extern \"C\"\n#else\n#define STBIW_EXTERN extern\n#endif\nSTBIW_EXTERN __declspec(dllimport) int __stdcall MultiByteToWideChar(unsigned int cp, unsigned long flags, const char *str, int cbmb, wchar_t *widestr, int cchwide);\nSTBIW_EXTERN __declspec(dllimport) int __stdcall WideCharToMultiByte(unsigned int cp, unsigned long flags, const wchar_t *widestr, int cchwide, char *str, int cbmb, const char *defchar, int *used_default);\n\nSTBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input)\n{\n return WideCharToMultiByte(65001 /* UTF8 */, 0, input, -1, buffer, (int) bufferlen, NULL, NULL);\n}\n#endif\n\nstatic FILE *stbiw__fopen(char const *filename, char const *mode)\n{\n FILE *f;\n#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)\n wchar_t wMode[64];\n wchar_t wFilename[1024];\n if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, filename, -1, wFilename, sizeof(wFilename)))\n return 0;\n\n if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, mode, -1, wMode, sizeof(wMode)))\n return 0;\n\n#if _MSC_VER >= 1400\n if (0 != _wfopen_s(&f, wFilename, wMode))\n f = 0;\n#else\n f = _wfopen(wFilename, wMode);\n#endif\n\n#elif defined(_MSC_VER) && _MSC_VER >= 1400\n if (0 != fopen_s(&f, filename, mode))\n f=0;\n#else\n f = fopen(filename, mode);\n#endif\n return f;\n}\n\nstatic int stbi__start_write_file(stbi__write_context *s, const char *filename)\n{\n FILE *f = stbiw__fopen(filename, \"wb\");\n stbi__start_write_callbacks(s, stbi__stdio_write, (void *) f);\n return f != NULL;\n}\n\nstatic void stbi__end_write_file(stbi__write_context *s)\n{\n fclose((FILE *)s->context);\n}\n\n#endif // !STBI_WRITE_NO_STDIO\n\ntypedef unsigned int stbiw_uint32;\ntypedef int stb_image_write_test[sizeof(stbiw_uint32)==4 ? 1 : -1];\n\nstatic void stbiw__writefv(stbi__write_context *s, const char *fmt, va_list v)\n{\n while (*fmt) {\n switch (*fmt++) {\n case ' ': break;\n case '1': { unsigned char x = STBIW_UCHAR(va_arg(v, int));\n s->func(s->context,&x,1);\n break; }\n case '2': { int x = va_arg(v,int);\n unsigned char b[2];\n b[0] = STBIW_UCHAR(x);\n b[1] = STBIW_UCHAR(x>>8);\n s->func(s->context,b,2);\n break; }\n case '4': { stbiw_uint32 x = va_arg(v,int);\n unsigned char b[4];\n b[0]=STBIW_UCHAR(x);\n b[1]=STBIW_UCHAR(x>>8);\n b[2]=STBIW_UCHAR(x>>16);\n b[3]=STBIW_UCHAR(x>>24);\n s->func(s->context,b,4);\n break; }\n default:\n STBIW_ASSERT(0);\n return;\n }\n }\n}\n\nstatic void stbiw__writef(stbi__write_context *s, const char *fmt, ...)\n{\n va_list v;\n va_start(v, fmt);\n stbiw__writefv(s, fmt, v);\n va_end(v);\n}\n\nstatic void stbiw__putc(stbi__write_context *s, unsigned char c)\n{\n s->func(s->context, &c, 1);\n}\n\nstatic void stbiw__write3(stbi__write_context *s, unsigned char a, unsigned char b, unsigned char c)\n{\n unsigned char arr[3];\n arr[0] = a; arr[1] = b; arr[2] = c;\n s->func(s->context, arr, 3);\n}\n\nstatic void stbiw__write_pixel(stbi__write_context *s, int rgb_dir, int comp, int write_alpha, int expand_mono, unsigned char *d)\n{\n unsigned char bg[3] = { 255, 0, 255}, px[3];\n int k;\n\n if (write_alpha < 0)\n s->func(s->context, &d[comp - 1], 1);\n\n switch (comp) {\n case 2: // 2 pixels = mono + alpha, alpha is written separately, so same as 1-channel case\n case 1:\n if (expand_mono)\n stbiw__write3(s, d[0], d[0], d[0]); // monochrome bmp\n else\n s->func(s->context, d, 1); // monochrome TGA\n break;\n case 4:\n if (!write_alpha) {\n // composite against pink background\n for (k = 0; k < 3; ++k)\n px[k] = bg[k] + ((d[k] - bg[k]) * d[3]) / 255;\n stbiw__write3(s, px[1 - rgb_dir], px[1], px[1 + rgb_dir]);\n break;\n }\n /* FALLTHROUGH */\n case 3:\n stbiw__write3(s, d[1 - rgb_dir], d[1], d[1 + rgb_dir]);\n break;\n }\n if (write_alpha > 0)\n s->func(s->context, &d[comp - 1], 1);\n}\n\nstatic void stbiw__write_pixels(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, void *data, int write_alpha, int scanline_pad, int expand_mono)\n{\n stbiw_uint32 zero = 0;\n int i,j, j_end;\n\n if (y <= 0)\n return;\n\n if (stbi__flip_vertically_on_write)\n vdir *= -1;\n\n if (vdir < 0) {\n j_end = -1; j = y-1;\n } else {\n j_end = y; j = 0;\n }\n\n for (; j != j_end; j += vdir) {\n for (i=0; i < x; ++i) {\n unsigned char *d = (unsigned char *) data + (j*x+i)*comp;\n stbiw__write_pixel(s, rgb_dir, comp, write_alpha, expand_mono, d);\n }\n s->func(s->context, &zero, scanline_pad);\n }\n}\n\nstatic int stbiw__outfile(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, int expand_mono, void *data, int alpha, int pad, const char *fmt, ...)\n{\n if (y < 0 || x < 0) {\n return 0;\n } else {\n va_list v;\n va_start(v, fmt);\n stbiw__writefv(s, fmt, v);\n va_end(v);\n stbiw__write_pixels(s,rgb_dir,vdir,x,y,comp,data,alpha,pad, expand_mono);\n return 1;\n }\n}\n\nstatic int stbi_write_bmp_core(stbi__write_context *s, int x, int y, int comp, const void *data)\n{\n int pad = (-x*3) & 3;\n return stbiw__outfile(s,-1,-1,x,y,comp,1,(void *) data,0,pad,\n \"11 4 22 4\" \"4 44 22 444444\",\n 'B', 'M', 14+40+(x*3+pad)*y, 0,0, 14+40, // file header\n 40, x,y, 1,24, 0,0,0,0,0,0); // bitmap header\n}\n\nSTBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)\n{\n stbi__write_context s;\n stbi__start_write_callbacks(&s, func, context);\n return stbi_write_bmp_core(&s, x, y, comp, data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_bmp(char const *filename, int x, int y, int comp, const void *data)\n{\n stbi__write_context s;\n if (stbi__start_write_file(&s,filename)) {\n int r = stbi_write_bmp_core(&s, x, y, comp, data);\n stbi__end_write_file(&s);\n return r;\n } else\n return 0;\n}\n#endif \n\nstatic int stbi_write_tga_core(stbi__write_context *s, int x, int y, int comp, void *data)\n{\n int has_alpha = (comp == 2 || comp == 4);\n int colorbytes = has_alpha ? comp-1 : comp;\n int format = colorbytes < 2 ? 3 : 2; // 3 color channels (RGB/RGBA) = 2, 1 color channel (Y/YA) = 3\n\n if (y < 0 || x < 0)\n return 0;\n\n if (!stbi_write_tga_with_rle) {\n return stbiw__outfile(s, -1, -1, x, y, comp, 0, (void *) data, has_alpha, 0,\n \"111 221 2222 11\", 0, 0, format, 0, 0, 0, 0, 0, x, y, (colorbytes + has_alpha) * 8, has_alpha * 8);\n } else {\n int i,j,k;\n int jend, jdir;\n\n stbiw__writef(s, \"111 221 2222 11\", 0,0,format+8, 0,0,0, 0,0,x,y, (colorbytes + has_alpha) * 8, has_alpha * 8);\n\n if (stbi__flip_vertically_on_write) {\n j = 0;\n jend = y;\n jdir = 1;\n } else {\n j = y-1;\n jend = -1;\n jdir = -1;\n }\n for (; j != jend; j += jdir) {\n unsigned char *row = (unsigned char *) data + j * x * comp;\n int len;\n\n for (i = 0; i < x; i += len) {\n unsigned char *begin = row + i * comp;\n int diff = 1;\n len = 1;\n\n if (i < x - 1) {\n ++len;\n diff = memcmp(begin, row + (i + 1) * comp, comp);\n if (diff) {\n const unsigned char *prev = begin;\n for (k = i + 2; k < x && len < 128; ++k) {\n if (memcmp(prev, row + k * comp, comp)) {\n prev += comp;\n ++len;\n } else {\n --len;\n break;\n }\n }\n } else {\n for (k = i + 2; k < x && len < 128; ++k) {\n if (!memcmp(begin, row + k * comp, comp)) {\n ++len;\n } else {\n break;\n }\n }\n }\n }\n\n if (diff) {\n unsigned char header = STBIW_UCHAR(len - 1);\n s->func(s->context, &header, 1);\n for (k = 0; k < len; ++k) {\n stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin + k * comp);\n }\n } else {\n unsigned char header = STBIW_UCHAR(len - 129);\n s->func(s->context, &header, 1);\n stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin);\n }\n }\n }\n }\n return 1;\n}\n\nSTBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)\n{\n stbi__write_context s;\n stbi__start_write_callbacks(&s, func, context);\n return stbi_write_tga_core(&s, x, y, comp, (void *) data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_tga(char const *filename, int x, int y, int comp, const void *data)\n{\n stbi__write_context s;\n if (stbi__start_write_file(&s,filename)) {\n int r = stbi_write_tga_core(&s, x, y, comp, (void *) data);\n stbi__end_write_file(&s);\n return r;\n } else\n return 0;\n}\n#endif\n\n// *************************************************************************************************\n// Radiance RGBE HDR writer\n// by Baldur Karlsson\n\n#define stbiw__max(a, b) ((a) > (b) ? (a) : (b))\n\nstatic void stbiw__linear_to_rgbe(unsigned char *rgbe, float *linear)\n{\n int exponent;\n float maxcomp = stbiw__max(linear[0], stbiw__max(linear[1], linear[2]));\n\n if (maxcomp < 1e-32f) {\n rgbe[0] = rgbe[1] = rgbe[2] = rgbe[3] = 0;\n } else {\n float normalize = (float) frexp(maxcomp, &exponent) * 256.0f/maxcomp;\n\n rgbe[0] = (unsigned char)(linear[0] * normalize);\n rgbe[1] = (unsigned char)(linear[1] * normalize);\n rgbe[2] = (unsigned char)(linear[2] * normalize);\n rgbe[3] = (unsigned char)(exponent + 128);\n }\n}\n\nstatic void stbiw__write_run_data(stbi__write_context *s, int length, unsigned char databyte)\n{\n unsigned char lengthbyte = STBIW_UCHAR(length+128);\n STBIW_ASSERT(length+128 <= 255);\n s->func(s->context, &lengthbyte, 1);\n s->func(s->context, &databyte, 1);\n}\n\nstatic void stbiw__write_dump_data(stbi__write_context *s, int length, unsigned char *data)\n{\n unsigned char lengthbyte = STBIW_UCHAR(length);\n STBIW_ASSERT(length <= 128); // inconsistent with spec but consistent with official code\n s->func(s->context, &lengthbyte, 1);\n s->func(s->context, data, length);\n}\n\nstatic void stbiw__write_hdr_scanline(stbi__write_context *s, int width, int ncomp, unsigned char *scratch, float *scanline)\n{\n unsigned char scanlineheader[4] = { 2, 2, 0, 0 };\n unsigned char rgbe[4];\n float linear[3];\n int x;\n\n scanlineheader[2] = (width&0xff00)>>8;\n scanlineheader[3] = (width&0x00ff);\n\n /* skip RLE for images too small or large */\n if (width < 8 || width >= 32768) {\n for (x=0; x < width; x++) {\n switch (ncomp) {\n case 4: /* fallthrough */\n case 3: linear[2] = scanline[x*ncomp + 2];\n linear[1] = scanline[x*ncomp + 1];\n linear[0] = scanline[x*ncomp + 0];\n break;\n default:\n linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];\n break;\n }\n stbiw__linear_to_rgbe(rgbe, linear);\n s->func(s->context, rgbe, 4);\n }\n } else {\n int c,r;\n /* encode into scratch buffer */\n for (x=0; x < width; x++) {\n switch(ncomp) {\n case 4: /* fallthrough */\n case 3: linear[2] = scanline[x*ncomp + 2];\n linear[1] = scanline[x*ncomp + 1];\n linear[0] = scanline[x*ncomp + 0];\n break;\n default:\n linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];\n break;\n }\n stbiw__linear_to_rgbe(rgbe, linear);\n scratch[x + width*0] = rgbe[0];\n scratch[x + width*1] = rgbe[1];\n scratch[x + width*2] = rgbe[2];\n scratch[x + width*3] = rgbe[3];\n }\n\n s->func(s->context, scanlineheader, 4);\n\n /* RLE each component separately */\n for (c=0; c < 4; c++) {\n unsigned char *comp = &scratch[width*c];\n\n x = 0;\n while (x < width) {\n // find first run\n r = x;\n while (r+2 < width) {\n if (comp[r] == comp[r+1] && comp[r] == comp[r+2])\n break;\n ++r;\n }\n if (r+2 >= width)\n r = width;\n // dump up to first run\n while (x < r) {\n int len = r-x;\n if (len > 128) len = 128;\n stbiw__write_dump_data(s, len, &comp[x]);\n x += len;\n }\n // if there's a run, output it\n if (r+2 < width) { // same test as what we break out of in search loop, so only true if we break'd\n // find next byte after run\n while (r < width && comp[r] == comp[x])\n ++r;\n // output run up to r\n while (x < r) {\n int len = r-x;\n if (len > 127) len = 127;\n stbiw__write_run_data(s, len, comp[x]);\n x += len;\n }\n }\n }\n }\n }\n}\n\nstatic int stbi_write_hdr_core(stbi__write_context *s, int x, int y, int comp, float *data)\n{\n if (y <= 0 || x <= 0 || data == NULL)\n return 0;\n else {\n // Each component is stored separately. Allocate scratch space for full output scanline.\n unsigned char *scratch = (unsigned char *) STBIW_MALLOC(x*4);\n int i, len;\n char buffer[128];\n char header[] = \"#?RADIANCE\\n# Written by stb_image_write.h\\nFORMAT=32-bit_rle_rgbe\\n\";\n s->func(s->context, header, sizeof(header)-1);\n\n#ifdef __STDC_WANT_SECURE_LIB__\n len = sprintf_s(buffer, sizeof(buffer), \"EXPOSURE= 1.0000000000000\\n\\n-Y %d +X %d\\n\", y, x);\n#else\n len = sprintf(buffer, \"EXPOSURE= 1.0000000000000\\n\\n-Y %d +X %d\\n\", y, x);\n#endif\n s->func(s->context, buffer, len);\n\n for(i=0; i < y; i++)\n stbiw__write_hdr_scanline(s, x, comp, scratch, data + comp*x*(stbi__flip_vertically_on_write ? y-1-i : i));\n STBIW_FREE(scratch);\n return 1;\n }\n}\n\nSTBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const float *data)\n{\n stbi__write_context s;\n stbi__start_write_callbacks(&s, func, context);\n return stbi_write_hdr_core(&s, x, y, comp, (float *) data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_hdr(char const *filename, int x, int y, int comp, const float *data)\n{\n stbi__write_context s;\n if (stbi__start_write_file(&s,filename)) {\n int r = stbi_write_hdr_core(&s, x, y, comp, (float *) data);\n stbi__end_write_file(&s);\n return r;\n } else\n return 0;\n}\n#endif // STBI_WRITE_NO_STDIO\n\n\n//\n// PNG writer\n//\n\n#ifndef STBIW_ZLIB_COMPRESS\n// stretchy buffer; stbiw__sbpush() == vector<>::push_back() -- stbiw__sbcount() == vector<>::size()\n#define stbiw__sbraw(a) ((int *) (a) - 2)\n#define stbiw__sbm(a) stbiw__sbraw(a)[0]\n#define stbiw__sbn(a) stbiw__sbraw(a)[1]\n\n#define stbiw__sbneedgrow(a,n) ((a)==0 || stbiw__sbn(a)+n >= stbiw__sbm(a))\n#define stbiw__sbmaybegrow(a,n) (stbiw__sbneedgrow(a,(n)) ? stbiw__sbgrow(a,n) : 0)\n#define stbiw__sbgrow(a,n) stbiw__sbgrowf((void **) &(a), (n), sizeof(*(a)))\n\n#define stbiw__sbpush(a, v) (stbiw__sbmaybegrow(a,1), (a)[stbiw__sbn(a)++] = (v))\n#define stbiw__sbcount(a) ((a) ? stbiw__sbn(a) : 0)\n#define stbiw__sbfree(a) ((a) ? STBIW_FREE(stbiw__sbraw(a)),0 : 0)\n\nstatic void *stbiw__sbgrowf(void **arr, int increment, int itemsize)\n{\n int m = *arr ? 2*stbiw__sbm(*arr)+increment : increment+1;\n void *p = STBIW_REALLOC_SIZED(*arr ? stbiw__sbraw(*arr) : 0, *arr ? (stbiw__sbm(*arr)*itemsize + sizeof(int)*2) : 0, itemsize * m + sizeof(int)*2);\n STBIW_ASSERT(p);\n if (p) {\n if (!*arr) ((int *) p)[1] = 0;\n *arr = (void *) ((int *) p + 2);\n stbiw__sbm(*arr) = m;\n }\n return *arr;\n}\n\nstatic unsigned char *stbiw__zlib_flushf(unsigned char *data, unsigned int *bitbuffer, int *bitcount)\n{\n while (*bitcount >= 8) {\n stbiw__sbpush(data, STBIW_UCHAR(*bitbuffer));\n *bitbuffer >>= 8;\n *bitcount -= 8;\n }\n return data;\n}\n\nstatic int stbiw__zlib_bitrev(int code, int codebits)\n{\n int res=0;\n while (codebits--) {\n res = (res << 1) | (code & 1);\n code >>= 1;\n }\n return res;\n}\n\nstatic unsigned int stbiw__zlib_countm(unsigned char *a, unsigned char *b, int limit)\n{\n int i;\n for (i=0; i < limit && i < 258; ++i)\n if (a[i] != b[i]) break;\n return i;\n}\n\nstatic unsigned int stbiw__zhash(unsigned char *data)\n{\n stbiw_uint32 hash = data[0] + (data[1] << 8) + (data[2] << 16);\n hash ^= hash << 3;\n hash += hash >> 5;\n hash ^= hash << 4;\n hash += hash >> 17;\n hash ^= hash << 25;\n hash += hash >> 6;\n return hash;\n}\n\n#define stbiw__zlib_flush() (out = stbiw__zlib_flushf(out, &bitbuf, &bitcount))\n#define stbiw__zlib_add(code,codebits) \\\n (bitbuf |= (code) << bitcount, bitcount += (codebits), stbiw__zlib_flush())\n#define stbiw__zlib_huffa(b,c) stbiw__zlib_add(stbiw__zlib_bitrev(b,c),c)\n// default huffman tables\n#define stbiw__zlib_huff1(n) stbiw__zlib_huffa(0x30 + (n), 8)\n#define stbiw__zlib_huff2(n) stbiw__zlib_huffa(0x190 + (n)-144, 9)\n#define stbiw__zlib_huff3(n) stbiw__zlib_huffa(0 + (n)-256,7)\n#define stbiw__zlib_huff4(n) stbiw__zlib_huffa(0xc0 + (n)-280,8)\n#define stbiw__zlib_huff(n) ((n) <= 143 ? stbiw__zlib_huff1(n) : (n) <= 255 ? stbiw__zlib_huff2(n) : (n) <= 279 ? stbiw__zlib_huff3(n) : stbiw__zlib_huff4(n))\n#define stbiw__zlib_huffb(n) ((n) <= 143 ? stbiw__zlib_huff1(n) : stbiw__zlib_huff2(n))\n\n#define stbiw__ZHASH 16384\n\n#endif // STBIW_ZLIB_COMPRESS\n\nSTBIWDEF unsigned char * stbi_zlib_compress(unsigned char *data, int data_len, int *out_len, int quality)\n{\n#ifdef STBIW_ZLIB_COMPRESS\n // user provided a zlib compress implementation, use that\n return STBIW_ZLIB_COMPRESS(data, data_len, out_len, quality);\n#else // use builtin\n static unsigned short lengthc[] = { 3,4,5,6,7,8,9,10,11,13,15,17,19,23,27,31,35,43,51,59,67,83,99,115,131,163,195,227,258, 259 };\n static unsigned char lengtheb[]= { 0,0,0,0,0,0,0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 0 };\n static unsigned short distc[] = { 1,2,3,4,5,7,9,13,17,25,33,49,65,97,129,193,257,385,513,769,1025,1537,2049,3073,4097,6145,8193,12289,16385,24577, 32768 };\n static unsigned char disteb[] = { 0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13 };\n unsigned int bitbuf=0;\n int i,j, bitcount=0;\n unsigned char *out = NULL;\n unsigned char ***hash_table = (unsigned char***) STBIW_MALLOC(stbiw__ZHASH * sizeof(unsigned char**));\n if (hash_table == NULL)\n return NULL;\n if (quality < 5) quality = 5;\n\n stbiw__sbpush(out, 0x78); // DEFLATE 32K window\n stbiw__sbpush(out, 0x5e); // FLEVEL = 1\n stbiw__zlib_add(1,1); // BFINAL = 1\n stbiw__zlib_add(1,2); // BTYPE = 1 -- fixed huffman\n\n for (i=0; i < stbiw__ZHASH; ++i)\n hash_table[i] = NULL;\n\n i=0;\n while (i < data_len-3) {\n // hash next 3 bytes of data to be compressed\n int h = stbiw__zhash(data+i)&(stbiw__ZHASH-1), best=3;\n unsigned char *bestloc = 0;\n unsigned char **hlist = hash_table[h];\n int n = stbiw__sbcount(hlist);\n for (j=0; j < n; ++j) {\n if (hlist[j]-data > i-32768) { // if entry lies within window\n int d = stbiw__zlib_countm(hlist[j], data+i, data_len-i);\n if (d >= best) { best=d; bestloc=hlist[j]; }\n }\n }\n // when hash table entry is too long, delete half the entries\n if (hash_table[h] && stbiw__sbn(hash_table[h]) == 2*quality) {\n STBIW_MEMMOVE(hash_table[h], hash_table[h]+quality, sizeof(hash_table[h][0])*quality);\n stbiw__sbn(hash_table[h]) = quality;\n }\n stbiw__sbpush(hash_table[h],data+i);\n\n if (bestloc) {\n // \"lazy matching\" - check match at *next* byte, and if it's better, do cur byte as literal\n h = stbiw__zhash(data+i+1)&(stbiw__ZHASH-1);\n hlist = hash_table[h];\n n = stbiw__sbcount(hlist);\n for (j=0; j < n; ++j) {\n if (hlist[j]-data > i-32767) {\n int e = stbiw__zlib_countm(hlist[j], data+i+1, data_len-i-1);\n if (e > best) { // if next match is better, bail on current match\n bestloc = NULL;\n break;\n }\n }\n }\n }\n\n if (bestloc) {\n int d = (int) (data+i - bestloc); // distance back\n STBIW_ASSERT(d <= 32767 && best <= 258);\n for (j=0; best > lengthc[j+1]-1; ++j);\n stbiw__zlib_huff(j+257);\n if (lengtheb[j]) stbiw__zlib_add(best - lengthc[j], lengtheb[j]);\n for (j=0; d > distc[j+1]-1; ++j);\n stbiw__zlib_add(stbiw__zlib_bitrev(j,5),5);\n if (disteb[j]) stbiw__zlib_add(d - distc[j], disteb[j]);\n i += best;\n } else {\n stbiw__zlib_huffb(data[i]);\n ++i;\n }\n }\n // write out final bytes\n for (;i < data_len; ++i)\n stbiw__zlib_huffb(data[i]);\n stbiw__zlib_huff(256); // end of block\n // pad with 0 bits to byte boundary\n while (bitcount)\n stbiw__zlib_add(0,1);\n\n for (i=0; i < stbiw__ZHASH; ++i)\n (void) stbiw__sbfree(hash_table[i]);\n STBIW_FREE(hash_table);\n\n {\n // compute adler32 on input\n unsigned int s1=1, s2=0;\n int blocklen = (int) (data_len % 5552);\n j=0;\n while (j < data_len) {\n for (i=0; i < blocklen; ++i) { s1 += data[j+i]; s2 += s1; }\n s1 %= 65521; s2 %= 65521;\n j += blocklen;\n blocklen = 5552;\n }\n stbiw__sbpush(out, STBIW_UCHAR(s2 >> 8));\n stbiw__sbpush(out, STBIW_UCHAR(s2));\n stbiw__sbpush(out, STBIW_UCHAR(s1 >> 8));\n stbiw__sbpush(out, STBIW_UCHAR(s1));\n }\n *out_len = stbiw__sbn(out);\n // make returned pointer freeable\n STBIW_MEMMOVE(stbiw__sbraw(out), out, *out_len);\n return (unsigned char *) stbiw__sbraw(out);\n#endif // STBIW_ZLIB_COMPRESS\n}\n\nstatic unsigned int stbiw__crc32(unsigned char *buffer, int len)\n{\n#ifdef STBIW_CRC32\n return STBIW_CRC32(buffer, len);\n#else\n static unsigned int crc_table[256] =\n {\n 0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,\n 0x0eDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,\n 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,\n 0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,\n 0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,\n 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,\n 0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,\n 0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,\n 0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,\n 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,\n 0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,\n 0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,\n 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,\n 0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,\n 0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,\n 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,\n 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,\n 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,\n 0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,\n 0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,\n 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,\n 0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,\n 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,\n 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,\n 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,\n 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,\n 0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,\n 0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,\n 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,\n 0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,\n 0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,\n 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D\n };\n\n unsigned int crc = ~0u;\n int i;\n for (i=0; i < len; ++i)\n crc = (crc >> 8) ^ crc_table[buffer[i] ^ (crc & 0xff)];\n return ~crc;\n#endif\n}\n\n#define stbiw__wpng4(o,a,b,c,d) ((o)[0]=STBIW_UCHAR(a),(o)[1]=STBIW_UCHAR(b),(o)[2]=STBIW_UCHAR(c),(o)[3]=STBIW_UCHAR(d),(o)+=4)\n#define stbiw__wp32(data,v) stbiw__wpng4(data, (v)>>24,(v)>>16,(v)>>8,(v));\n#define stbiw__wptag(data,s) stbiw__wpng4(data, s[0],s[1],s[2],s[3])\n\nstatic void stbiw__wpcrc(unsigned char **data, int len)\n{\n unsigned int crc = stbiw__crc32(*data - len - 4, len+4);\n stbiw__wp32(*data, crc);\n}\n\nstatic unsigned char stbiw__paeth(int a, int b, int c)\n{\n int p = a + b - c, pa = abs(p-a), pb = abs(p-b), pc = abs(p-c);\n if (pa <= pb && pa <= pc) return STBIW_UCHAR(a);\n if (pb <= pc) return STBIW_UCHAR(b);\n return STBIW_UCHAR(c);\n}\n\n// @OPTIMIZE: provide an option that always forces left-predict or paeth predict\nstatic void stbiw__encode_png_line(unsigned char *pixels, int stride_bytes, int width, int height, int y, int n, int filter_type, signed char *line_buffer)\n{\n static int mapping[] = { 0,1,2,3,4 };\n static int firstmap[] = { 0,1,0,5,6 };\n int *mymap = (y != 0) ? mapping : firstmap;\n int i;\n int type = mymap[filter_type];\n unsigned char *z = pixels + stride_bytes * (stbi__flip_vertically_on_write ? height-1-y : y);\n int signed_stride = stbi__flip_vertically_on_write ? -stride_bytes : stride_bytes;\n\n if (type==0) {\n memcpy(line_buffer, z, width*n);\n return;\n }\n\n // first loop isn't optimized since it's just one pixel \n for (i = 0; i < n; ++i) {\n switch (type) {\n case 1: line_buffer[i] = z[i]; break;\n case 2: line_buffer[i] = z[i] - z[i-signed_stride]; break;\n case 3: line_buffer[i] = z[i] - (z[i-signed_stride]>>1); break;\n case 4: line_buffer[i] = (signed char) (z[i] - stbiw__paeth(0,z[i-signed_stride],0)); break;\n case 5: line_buffer[i] = z[i]; break;\n case 6: line_buffer[i] = z[i]; break;\n }\n }\n switch (type) {\n case 1: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - z[i-n]; break;\n case 2: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - z[i-signed_stride]; break;\n case 3: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - ((z[i-n] + z[i-signed_stride])>>1); break;\n case 4: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], z[i-signed_stride], z[i-signed_stride-n]); break;\n case 5: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - (z[i-n]>>1); break;\n case 6: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], 0,0); break;\n }\n}\n\nSTBIWDEF unsigned char *stbi_write_png_to_mem(const unsigned char *pixels, int stride_bytes, int x, int y, int n, int *out_len)\n{\n int force_filter = stbi_write_force_png_filter;\n int ctype[5] = { -1, 0, 4, 2, 6 };\n unsigned char sig[8] = { 137,80,78,71,13,10,26,10 };\n unsigned char *out,*o, *filt, *zlib;\n signed char *line_buffer;\n int j,zlen;\n\n if (stride_bytes == 0)\n stride_bytes = x * n;\n\n if (force_filter >= 5) {\n force_filter = -1;\n }\n\n filt = (unsigned char *) STBIW_MALLOC((x*n+1) * y); if (!filt) return 0;\n line_buffer = (signed char *) STBIW_MALLOC(x * n); if (!line_buffer) { STBIW_FREE(filt); return 0; }\n for (j=0; j < y; ++j) {\n int filter_type;\n if (force_filter > -1) {\n filter_type = force_filter;\n stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, force_filter, line_buffer);\n } else { // Estimate the best filter by running through all of them:\n int best_filter = 0, best_filter_val = 0x7fffffff, est, i;\n for (filter_type = 0; filter_type < 5; filter_type++) {\n stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, filter_type, line_buffer);\n\n // Estimate the entropy of the line using this filter; the less, the better.\n est = 0;\n for (i = 0; i < x*n; ++i) {\n est += abs((signed char) line_buffer[i]);\n }\n if (est < best_filter_val) {\n best_filter_val = est;\n best_filter = filter_type;\n }\n }\n if (filter_type != best_filter) { // If the last iteration already got us the best filter, don't redo it\n stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, best_filter, line_buffer);\n filter_type = best_filter;\n }\n }\n // when we get here, filter_type contains the filter type, and line_buffer contains the data\n filt[j*(x*n+1)] = (unsigned char) filter_type;\n STBIW_MEMMOVE(filt+j*(x*n+1)+1, line_buffer, x*n);\n }\n STBIW_FREE(line_buffer);\n zlib = stbi_zlib_compress(filt, y*( x*n+1), &zlen, stbi_write_png_compression_level);\n STBIW_FREE(filt);\n if (!zlib) return 0;\n\n // each tag requires 12 bytes of overhead\n out = (unsigned char *) STBIW_MALLOC(8 + 12+13 + 12+zlen + 12);\n if (!out) return 0;\n *out_len = 8 + 12+13 + 12+zlen + 12;\n\n o=out;\n STBIW_MEMMOVE(o,sig,8); o+= 8;\n stbiw__wp32(o, 13); // header length\n stbiw__wptag(o, \"IHDR\");\n stbiw__wp32(o, x);\n stbiw__wp32(o, y);\n *o++ = 8;\n *o++ = STBIW_UCHAR(ctype[n]);\n *o++ = 0;\n *o++ = 0;\n *o++ = 0;\n stbiw__wpcrc(&o,13);\n\n stbiw__wp32(o, zlen);\n stbiw__wptag(o, \"IDAT\");\n STBIW_MEMMOVE(o, zlib, zlen);\n o += zlen;\n STBIW_FREE(zlib);\n stbiw__wpcrc(&o, zlen);\n\n stbiw__wp32(o,0);\n stbiw__wptag(o, \"IEND\");\n stbiw__wpcrc(&o,0);\n\n STBIW_ASSERT(o == out + *out_len);\n\n return out;\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_png(char const *filename, int x, int y, int comp, const void *data, int stride_bytes)\n{\n FILE *f;\n int len;\n unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &len);\n if (png == NULL) return 0;\n\n f = stbiw__fopen(filename, \"wb\");\n if (!f) { STBIW_FREE(png); return 0; }\n fwrite(png, 1, len, f);\n fclose(f);\n STBIW_FREE(png);\n return 1;\n}\n#endif\n\nSTBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int stride_bytes)\n{\n int len;\n unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &len);\n if (png == NULL) return 0;\n func(context, png, len);\n STBIW_FREE(png);\n return 1;\n}\n\n\n/* ***************************************************************************\n *\n * JPEG writer\n *\n * This is based on Jon Olick's jo_jpeg.cpp:\n * public domain Simple, Minimalistic JPEG writer - http://www.jonolick.com/code.html\n */\n\nstatic const unsigned char stbiw__jpg_ZigZag[] = { 0,1,5,6,14,15,27,28,2,4,7,13,16,26,29,42,3,8,12,17,25,30,41,43,9,11,18,\n 24,31,40,44,53,10,19,23,32,39,45,52,54,20,22,33,38,46,51,55,60,21,34,37,47,50,56,59,61,35,36,48,49,57,58,62,63 };\n\nstatic void stbiw__jpg_writeBits(stbi__write_context *s, int *bitBufP, int *bitCntP, const unsigned short *bs) {\n int bitBuf = *bitBufP, bitCnt = *bitCntP;\n bitCnt += bs[1];\n bitBuf |= bs[0] << (24 - bitCnt);\n while(bitCnt >= 8) {\n unsigned char c = (bitBuf >> 16) & 255;\n stbiw__putc(s, c);\n if(c == 255) {\n stbiw__putc(s, 0);\n }\n bitBuf <<= 8;\n bitCnt -= 8;\n }\n *bitBufP = bitBuf;\n *bitCntP = bitCnt;\n}\n\nstatic void stbiw__jpg_DCT(float *d0p, float *d1p, float *d2p, float *d3p, float *d4p, float *d5p, float *d6p, float *d7p) {\n float d0 = *d0p, d1 = *d1p, d2 = *d2p, d3 = *d3p, d4 = *d4p, d5 = *d5p, d6 = *d6p, d7 = *d7p;\n float z1, z2, z3, z4, z5, z11, z13;\n\n float tmp0 = d0 + d7;\n float tmp7 = d0 - d7;\n float tmp1 = d1 + d6;\n float tmp6 = d1 - d6;\n float tmp2 = d2 + d5;\n float tmp5 = d2 - d5;\n float tmp3 = d3 + d4;\n float tmp4 = d3 - d4;\n\n // Even part\n float tmp10 = tmp0 + tmp3; // phase 2\n float tmp13 = tmp0 - tmp3;\n float tmp11 = tmp1 + tmp2;\n float tmp12 = tmp1 - tmp2;\n\n d0 = tmp10 + tmp11; // phase 3\n d4 = tmp10 - tmp11;\n\n z1 = (tmp12 + tmp13) * 0.707106781f; // c4\n d2 = tmp13 + z1; // phase 5\n d6 = tmp13 - z1;\n\n // Odd part\n tmp10 = tmp4 + tmp5; // phase 2\n tmp11 = tmp5 + tmp6;\n tmp12 = tmp6 + tmp7;\n\n // The rotator is modified from fig 4-8 to avoid extra negations.\n z5 = (tmp10 - tmp12) * 0.382683433f; // c6\n z2 = tmp10 * 0.541196100f + z5; // c2-c6\n z4 = tmp12 * 1.306562965f + z5; // c2+c6\n z3 = tmp11 * 0.707106781f; // c4\n\n z11 = tmp7 + z3; // phase 5\n z13 = tmp7 - z3;\n\n *d5p = z13 + z2; // phase 6\n *d3p = z13 - z2;\n *d1p = z11 + z4;\n *d7p = z11 - z4;\n\n *d0p = d0; *d2p = d2; *d4p = d4; *d6p = d6;\n}\n\nstatic void stbiw__jpg_calcBits(int val, unsigned short bits[2]) {\n int tmp1 = val < 0 ? -val : val;\n val = val < 0 ? val-1 : val;\n bits[1] = 1;\n while(tmp1 >>= 1) {\n ++bits[1];\n }\n bits[0] = val & ((1<<bits[1])-1);\n}\n\nstatic int stbiw__jpg_processDU(stbi__write_context *s, int *bitBuf, int *bitCnt, float *CDU, float *fdtbl, int DC, const unsigned short HTDC[256][2], const unsigned short HTAC[256][2]) {\n const unsigned short EOB[2] = { HTAC[0x00][0], HTAC[0x00][1] };\n const unsigned short M16zeroes[2] = { HTAC[0xF0][0], HTAC[0xF0][1] };\n int dataOff, i, diff, end0pos;\n int DU[64];\n\n // DCT rows\n for(dataOff=0; dataOff<64; dataOff+=8) {\n stbiw__jpg_DCT(&CDU[dataOff], &CDU[dataOff+1], &CDU[dataOff+2], &CDU[dataOff+3], &CDU[dataOff+4], &CDU[dataOff+5], &CDU[dataOff+6], &CDU[dataOff+7]);\n }\n // DCT columns\n for(dataOff=0; dataOff<8; ++dataOff) {\n stbiw__jpg_DCT(&CDU[dataOff], &CDU[dataOff+8], &CDU[dataOff+16], &CDU[dataOff+24], &CDU[dataOff+32], &CDU[dataOff+40], &CDU[dataOff+48], &CDU[dataOff+56]);\n }\n // Quantize/descale/zigzag the coefficients\n for(i=0; i<64; ++i) {\n float v = CDU[i]*fdtbl[i];\n // DU[stbiw__jpg_ZigZag[i]] = (int)(v < 0 ? ceilf(v - 0.5f) : floorf(v + 0.5f));\n // ceilf() and floorf() are C99, not C89, but I /think/ they're not needed here anyway?\n DU[stbiw__jpg_ZigZag[i]] = (int)(v < 0 ? v - 0.5f : v + 0.5f);\n }\n\n // Encode DC\n diff = DU[0] - DC;\n if (diff == 0) {\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[0]);\n } else {\n unsigned short bits[2];\n stbiw__jpg_calcBits(diff, bits);\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[bits[1]]);\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);\n }\n // Encode ACs\n end0pos = 63;\n for(; (end0pos>0)&&(DU[end0pos]==0); --end0pos) {\n }\n // end0pos = first element in reverse order !=0\n if(end0pos == 0) {\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);\n return DU[0];\n }\n for(i = 1; i <= end0pos; ++i) {\n int startpos = i;\n int nrzeroes;\n unsigned short bits[2];\n for (; DU[i]==0 && i<=end0pos; ++i) {\n }\n nrzeroes = i-startpos;\n if ( nrzeroes >= 16 ) {\n int lng = nrzeroes>>4;\n int nrmarker;\n for (nrmarker=1; nrmarker <= lng; ++nrmarker)\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, M16zeroes);\n nrzeroes &= 15;\n }\n stbiw__jpg_calcBits(DU[i], bits);\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTAC[(nrzeroes<<4)+bits[1]]);\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);\n }\n if(end0pos != 63) {\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);\n }\n return DU[0];\n}\n\nstatic int stbi_write_jpg_core(stbi__write_context *s, int width, int height, int comp, const void* data, int quality) {\n // Constants that don't pollute global namespace\n static const unsigned char std_dc_luminance_nrcodes[] = {0,0,1,5,1,1,1,1,1,1,0,0,0,0,0,0,0};\n static const unsigned char std_dc_luminance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};\n static const unsigned char std_ac_luminance_nrcodes[] = {0,0,2,1,3,3,2,4,3,5,5,4,4,0,0,1,0x7d};\n static const unsigned char std_ac_luminance_values[] = {\n 0x01,0x02,0x03,0x00,0x04,0x11,0x05,0x12,0x21,0x31,0x41,0x06,0x13,0x51,0x61,0x07,0x22,0x71,0x14,0x32,0x81,0x91,0xa1,0x08,\n 0x23,0x42,0xb1,0xc1,0x15,0x52,0xd1,0xf0,0x24,0x33,0x62,0x72,0x82,0x09,0x0a,0x16,0x17,0x18,0x19,0x1a,0x25,0x26,0x27,0x28,\n 0x29,0x2a,0x34,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,0x59,\n 0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x83,0x84,0x85,0x86,0x87,0x88,0x89,\n 0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,0xb5,0xb6,\n 0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,0xe1,0xe2,\n 0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf1,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa\n };\n static const unsigned char std_dc_chrominance_nrcodes[] = {0,0,3,1,1,1,1,1,1,1,1,1,0,0,0,0,0};\n static const unsigned char std_dc_chrominance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};\n static const unsigned char std_ac_chrominance_nrcodes[] = {0,0,2,1,2,4,4,3,4,7,5,4,4,0,1,2,0x77};\n static const unsigned char std_ac_chrominance_values[] = {\n 0x00,0x01,0x02,0x03,0x11,0x04,0x05,0x21,0x31,0x06,0x12,0x41,0x51,0x07,0x61,0x71,0x13,0x22,0x32,0x81,0x08,0x14,0x42,0x91,\n 0xa1,0xb1,0xc1,0x09,0x23,0x33,0x52,0xf0,0x15,0x62,0x72,0xd1,0x0a,0x16,0x24,0x34,0xe1,0x25,0xf1,0x17,0x18,0x19,0x1a,0x26,\n 0x27,0x28,0x29,0x2a,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,\n 0x59,0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x82,0x83,0x84,0x85,0x86,0x87,\n 0x88,0x89,0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,\n 0xb5,0xb6,0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,\n 0xe2,0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa\n };\n // Huffman tables\n static const unsigned short YDC_HT[256][2] = { {0,2},{2,3},{3,3},{4,3},{5,3},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9}};\n static const unsigned short UVDC_HT[256][2] = { {0,2},{1,2},{2,2},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9},{1022,10},{2046,11}};\n static const unsigned short YAC_HT[256][2] = {\n {10,4},{0,2},{1,2},{4,3},{11,4},{26,5},{120,7},{248,8},{1014,10},{65410,16},{65411,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {12,4},{27,5},{121,7},{502,9},{2038,11},{65412,16},{65413,16},{65414,16},{65415,16},{65416,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {28,5},{249,8},{1015,10},{4084,12},{65417,16},{65418,16},{65419,16},{65420,16},{65421,16},{65422,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {58,6},{503,9},{4085,12},{65423,16},{65424,16},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {59,6},{1016,10},{65430,16},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {122,7},{2039,11},{65438,16},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {123,7},{4086,12},{65446,16},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {250,8},{4087,12},{65454,16},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {504,9},{32704,15},{65462,16},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {505,9},{65470,16},{65471,16},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {506,9},{65479,16},{65480,16},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {1017,10},{65488,16},{65489,16},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {1018,10},{65497,16},{65498,16},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {2040,11},{65506,16},{65507,16},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {65515,16},{65516,16},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{0,0},{0,0},{0,0},{0,0},{0,0},\n {2041,11},{65525,16},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}\n };\n static const unsigned short UVAC_HT[256][2] = {\n {0,2},{1,2},{4,3},{10,4},{24,5},{25,5},{56,6},{120,7},{500,9},{1014,10},{4084,12},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {11,4},{57,6},{246,8},{501,9},{2038,11},{4085,12},{65416,16},{65417,16},{65418,16},{65419,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {26,5},{247,8},{1015,10},{4086,12},{32706,15},{65420,16},{65421,16},{65422,16},{65423,16},{65424,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {27,5},{248,8},{1016,10},{4087,12},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{65430,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {58,6},{502,9},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{65438,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {59,6},{1017,10},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{65446,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {121,7},{2039,11},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{65454,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {122,7},{2040,11},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{65462,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {249,8},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{65470,16},{65471,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {503,9},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{65479,16},{65480,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {504,9},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{65488,16},{65489,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {505,9},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{65497,16},{65498,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {506,9},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{65506,16},{65507,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {2041,11},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{65515,16},{65516,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {16352,14},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{65525,16},{0,0},{0,0},{0,0},{0,0},{0,0},\n {1018,10},{32707,15},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}\n };\n static const int YQT[] = {16,11,10,16,24,40,51,61,12,12,14,19,26,58,60,55,14,13,16,24,40,57,69,56,14,17,22,29,51,87,80,62,18,22,\n 37,56,68,109,103,77,24,35,55,64,81,104,113,92,49,64,78,87,103,121,120,101,72,92,95,98,112,100,103,99};\n static const int UVQT[] = {17,18,24,47,99,99,99,99,18,21,26,66,99,99,99,99,24,26,56,99,99,99,99,99,47,66,99,99,99,99,99,99,\n 99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99};\n static const float aasf[] = { 1.0f * 2.828427125f, 1.387039845f * 2.828427125f, 1.306562965f * 2.828427125f, 1.175875602f * 2.828427125f, \n 1.0f * 2.828427125f, 0.785694958f * 2.828427125f, 0.541196100f * 2.828427125f, 0.275899379f * 2.828427125f };\n\n int row, col, i, k;\n float fdtbl_Y[64], fdtbl_UV[64];\n unsigned char YTable[64], UVTable[64];\n\n if(!data || !width || !height || comp > 4 || comp < 1) {\n return 0;\n }\n\n quality = quality ? quality : 90;\n quality = quality < 1 ? 1 : quality > 100 ? 100 : quality;\n quality = quality < 50 ? 5000 / quality : 200 - quality * 2;\n\n for(i = 0; i < 64; ++i) {\n int uvti, yti = (YQT[i]*quality+50)/100;\n YTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (yti < 1 ? 1 : yti > 255 ? 255 : yti);\n uvti = (UVQT[i]*quality+50)/100;\n UVTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (uvti < 1 ? 1 : uvti > 255 ? 255 : uvti);\n }\n\n for(row = 0, k = 0; row < 8; ++row) {\n for(col = 0; col < 8; ++col, ++k) {\n fdtbl_Y[k] = 1 / (YTable [stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);\n fdtbl_UV[k] = 1 / (UVTable[stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);\n }\n }\n\n // Write Headers\n {\n static const unsigned char head0[] = { 0xFF,0xD8,0xFF,0xE0,0,0x10,'J','F','I','F',0,1,1,0,0,1,0,1,0,0,0xFF,0xDB,0,0x84,0 };\n static const unsigned char head2[] = { 0xFF,0xDA,0,0xC,3,1,0,2,0x11,3,0x11,0,0x3F,0 };\n const unsigned char head1[] = { 0xFF,0xC0,0,0x11,8,(unsigned char)(height>>8),STBIW_UCHAR(height),(unsigned char)(width>>8),STBIW_UCHAR(width),\n 3,1,0x11,0,2,0x11,1,3,0x11,1,0xFF,0xC4,0x01,0xA2,0 };\n s->func(s->context, (void*)head0, sizeof(head0));\n s->func(s->context, (void*)YTable, sizeof(YTable));\n stbiw__putc(s, 1);\n s->func(s->context, UVTable, sizeof(UVTable));\n s->func(s->context, (void*)head1, sizeof(head1));\n s->func(s->context, (void*)(std_dc_luminance_nrcodes+1), sizeof(std_dc_luminance_nrcodes)-1);\n s->func(s->context, (void*)std_dc_luminance_values, sizeof(std_dc_luminance_values));\n stbiw__putc(s, 0x10); // HTYACinfo\n s->func(s->context, (void*)(std_ac_luminance_nrcodes+1), sizeof(std_ac_luminance_nrcodes)-1);\n s->func(s->context, (void*)std_ac_luminance_values, sizeof(std_ac_luminance_values));\n stbiw__putc(s, 1); // HTUDCinfo\n s->func(s->context, (void*)(std_dc_chrominance_nrcodes+1), sizeof(std_dc_chrominance_nrcodes)-1);\n s->func(s->context, (void*)std_dc_chrominance_values, sizeof(std_dc_chrominance_values));\n stbiw__putc(s, 0x11); // HTUACinfo\n s->func(s->context, (void*)(std_ac_chrominance_nrcodes+1), sizeof(std_ac_chrominance_nrcodes)-1);\n s->func(s->context, (void*)std_ac_chrominance_values, sizeof(std_ac_chrominance_values));\n s->func(s->context, (void*)head2, sizeof(head2));\n }\n\n // Encode 8x8 macroblocks\n {\n static const unsigned short fillBits[] = {0x7F, 7};\n const unsigned char *imageData = (const unsigned char *)data;\n int DCY=0, DCU=0, DCV=0;\n int bitBuf=0, bitCnt=0;\n // comp == 2 is grey+alpha (alpha is ignored)\n int ofsG = comp > 2 ? 1 : 0, ofsB = comp > 2 ? 2 : 0;\n int x, y, pos;\n for(y = 0; y < height; y += 8) {\n for(x = 0; x < width; x += 8) {\n float YDU[64], UDU[64], VDU[64];\n for(row = y, pos = 0; row < y+8; ++row) {\n // row >= height => use last input row\n int clamped_row = (row < height) ? row : height - 1;\n int base_p = (stbi__flip_vertically_on_write ? (height-1-clamped_row) : clamped_row)*width*comp;\n for(col = x; col < x+8; ++col, ++pos) {\n float r, g, b;\n // if col >= width => use pixel from last input column\n int p = base_p + ((col < width) ? col : (width-1))*comp;\n\n r = imageData[p+0];\n g = imageData[p+ofsG];\n b = imageData[p+ofsB];\n YDU[pos]=+0.29900f*r+0.58700f*g+0.11400f*b-128;\n UDU[pos]=-0.16874f*r-0.33126f*g+0.50000f*b;\n VDU[pos]=+0.50000f*r-0.41869f*g-0.08131f*b;\n }\n }\n\n DCY = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, YDU, fdtbl_Y, DCY, YDC_HT, YAC_HT);\n DCU = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, UDU, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);\n DCV = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, VDU, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);\n }\n }\n\n // Do the bit alignment of the EOI marker\n stbiw__jpg_writeBits(s, &bitBuf, &bitCnt, fillBits);\n }\n\n // EOI\n stbiw__putc(s, 0xFF);\n stbiw__putc(s, 0xD9);\n\n return 1;\n}\n\nSTBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality)\n{\n stbi__write_context s;\n stbi__start_write_callbacks(&s, func, context);\n return stbi_write_jpg_core(&s, x, y, comp, (void *) data, quality);\n}\n\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void *data, int quality)\n{\n stbi__write_context s;\n if (stbi__start_write_file(&s,filename)) {\n int r = stbi_write_jpg_core(&s, x, y, comp, data, quality);\n stbi__end_write_file(&s);\n return r;\n } else\n return 0;\n}\n#endif\n\n#endif // STB_IMAGE_WRITE_IMPLEMENTATION\n\n/* Revision history\n 1.11 (2019-08-11)\n\n 1.10 (2019-02-07)\n support utf8 filenames in Windows; fix warnings and platform ifdefs \n 1.09 (2018-02-11)\n fix typo in zlib quality API, improve STB_I_W_STATIC in C++\n 1.08 (2018-01-29)\n add stbi__flip_vertically_on_write, external zlib, zlib quality, choose PNG filter\n 1.07 (2017-07-24)\n doc fix\n 1.06 (2017-07-23)\n writing JPEG (using Jon Olick's code)\n 1.05 ???\n 1.04 (2017-03-03)\n monochrome BMP expansion\n 1.03 ???\n 1.02 (2016-04-02)\n avoid allocating large structures on the stack\n 1.01 (2016-01-16)\n STBIW_REALLOC_SIZED: support allocators with no realloc support\n avoid race-condition in crc initialization\n minor compile issues\n 1.00 (2015-09-14)\n installable file IO function\n 0.99 (2015-09-13)\n warning fixes; TGA rle support\n 0.98 (2015-04-08)\n added STBIW_MALLOC, STBIW_ASSERT etc\n 0.97 (2015-01-18)\n fixed HDR asserts, rewrote HDR rle logic\n 0.96 (2015-01-17)\n add HDR output\n fix monochrome BMP\n 0.95 (2014-08-17)\n add monochrome TGA output\n 0.94 (2014-05-31)\n rename private functions to avoid conflicts with stb_image.h\n 0.93 (2014-05-27)\n warning fixes\n 0.92 (2010-08-01)\n casts to unsigned char to fix warnings\n 0.91 (2010-07-17)\n first public release\n 0.90 first internal release\n*/\n\n/*\n------------------------------------------------------------------------------\nThis software is available under 2 licenses -- choose whichever you prefer.\n------------------------------------------------------------------------------\nALTERNATIVE A - MIT License\nCopyright (c) 2017 Sean Barrett\nPermission is hereby granted, free of charge, to any person obtaining a copy of \nthis software and associated documentation files (the \"Software\"), to deal in \nthe Software without restriction, including without limitation the rights to \nuse, copy, modify, merge, publish, distribute, sublicense, and/or sell copies \nof the Software, and to permit persons to whom the Software is furnished to do \nso, subject to the following conditions:\nThe above copyright notice and this permission notice shall be included in all \ncopies or substantial portions of the Software.\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR \nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, \nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE \nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER \nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, \nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE \nSOFTWARE.\n------------------------------------------------------------------------------\nALTERNATIVE B - Public Domain (www.unlicense.org)\nThis is free and unencumbered software released into the public domain.\nAnyone is free to copy, modify, publish, use, compile, sell, or distribute this \nsoftware, either in source code form or as a compiled binary, for any purpose, \ncommercial or non-commercial, and by any means.\nIn jurisdictions that recognize copyright laws, the author or authors of this \nsoftware dedicate any and all copyright interest in the software to the public \ndomain. We make this dedication for the benefit of the public at large and to \nthe detriment of our heirs and successors. We intend this dedication to be an \novert act of relinquishment in perpetuity of all present and future rights to \nthis software under copyright law.\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR \nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, \nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE \nAUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN \nACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION \nWITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\n------------------------------------------------------------------------------\n*/\nFileList > robot_dart > robots
"},{"location":"api/dir_087fbdcd93b501a5d3f98df93e9f8cc4/#files","title":"Files","text":"Type Name file a1.cpp file a1.hpp file arm.hpp file franka.cpp file franka.hpp file hexapod.hpp file icub.cpp file icub.hpp file iiwa.cpp file iiwa.hpp file pendulum.hpp file talos.cpp file talos.hpp file tiago.cpp file tiago.hpp file ur3e.cpp file ur3e.hpp file vx300.hppThe documentation for this class was generated from the following file robot_dart/robots/
FileList > robot_dart > robots > a1.cpp
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#include \"robot_dart/robots/a1.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/a1.cpp
File List > robot_dart > robots > a1.cpp
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#include \"robot_dart/robots/a1.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n A1::A1(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _imu(std::make_shared<sensor::IMU>(sensor::IMUConfig(body_node(\"imu_link\"), frequency)))\n {\n set_color_mode(\"material\");\n set_self_collision(true);\n set_position_enforced(true);\n\n // put above ground\n set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));\n\n // standing pose\n auto names = dof_names(true, true, true);\n names = std::vector<std::string>(names.begin() + 6, names.end());\n set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);\n }\n\n void A1::reset()\n {\n Robot::reset();\n\n // put above ground\n set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));\n\n // standing pose\n auto names = dof_names(true, true, true);\n names = std::vector<std::string>(names.begin() + 6, names.end());\n set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > a1.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/imu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/a1.hpp
File List > robot_dart > robots > a1.hpp
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#ifndef ROBOT_DART_ROBOTS_A1_HPP\n#define ROBOT_DART_ROBOTS_A1_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class A1 : public Robot {\n public:\n A1(size_t frequency = 1000, const std::string& urdf = \"unitree_a1/a1.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('a1_description', 'unitree_a1/a1_description'));\n\n void reset() override;\n\n const sensor::IMU& imu() const { return *_imu; }\n\n protected:\n std::shared_ptr<sensor::IMU> _imu;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > arm.hpp
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#include \"robot_dart/robot.hpp\"The documentation for this class was generated from the following file robot_dart/robots/arm.hpp
File List > robot_dart > robots > arm.hpp
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#ifndef ROBOT_DART_ROBOTS_ARM_HPP\n#define ROBOT_DART_ROBOTS_ARM_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Arm : public Robot {\n public:\n Arm(const std::string& urdf = \"arm.urdf\") : Robot(urdf)\n {\n fix_to_world();\n set_position_enforced(true);\n }\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > franka.cpp
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#include \"robot_dart/robots/franka.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/franka.cpp
File List > robot_dart > robots > franka.cpp
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#include \"robot_dart/robots/franka.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Franka::Franka(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _ft_wrist(std::make_shared<sensor::ForceTorque>(joint(\"panda_link7\"), frequency))\n {\n fix_to_world();\n set_position_enforced(true);\n set_color_mode(\"material\");\n }\n\n void Franka::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_ft_wrist);\n }\n\n void Franka::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_ft_wrist);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > franka.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/franka.hpp
File List > robot_dart > robots > franka.hpp
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#ifndef ROBOT_DART_ROBOTS_FRANKA_HPP\n#define ROBOT_DART_ROBOTS_FRANKA_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Franka : public Robot {\n public:\n Franka(size_t frequency = 1000, const std::string& urdf = \"franka/franka.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('franka_description', 'franka/franka_description'));\n\n const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }\n\n protected:\n std::shared_ptr<sensor::ForceTorque> _ft_wrist;\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > hexapod.hpp
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#include \"robot_dart/robot.hpp\"The documentation for this class was generated from the following file robot_dart/robots/hexapod.hpp
File List > robot_dart > robots > hexapod.hpp
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#ifndef ROBOT_DART_ROBOTS_HEXAPOD_HPP\n#define ROBOT_DART_ROBOTS_HEXAPOD_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Hexapod : public Robot {\n public:\n Hexapod(const std::string& urdf = \"pexod.urdf\") : Robot(urdf)\n {\n set_position_enforced(true);\n skeleton()->enableSelfCollisionCheck();\n set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));\n }\n\n void reset() override\n {\n Robot::reset();\n set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));\n }\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > icub.cpp
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#include \"robot_dart/robots/icub.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/icub.cpp
File List > robot_dart > robots > icub.cpp
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#include \"robot_dart/robots/icub.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n ICub::ICub(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _imu(std::make_shared<sensor::IMU>(sensor::IMUConfig(body_node(\"head\"), frequency))),\n _ft_foot_left(std::make_shared<sensor::ForceTorque>(joint(\"l_ankle_roll\"), frequency)),\n _ft_foot_right(std::make_shared<sensor::ForceTorque>(joint(\"r_ankle_roll\"), frequency))\n {\n set_color_mode(\"material\");\n\n set_position_enforced(true);\n\n // position iCub\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.46}));\n }\n\n void ICub::reset()\n {\n Robot::reset();\n\n // position iCub\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.46}));\n }\n\n void ICub::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_imu);\n simu->add_sensor(_ft_foot_left);\n simu->add_sensor(_ft_foot_right);\n }\n\n void ICub::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_imu);\n simu->remove_sensor(_ft_foot_left);\n simu->remove_sensor(_ft_foot_right);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > icub.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"#include \"robot_dart/sensor/imu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/icub.hpp
File List > robot_dart > robots > icub.hpp
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#ifndef ROBOT_DART_ROBOTS_ICUB_HPP\n#define ROBOT_DART_ROBOTS_ICUB_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class ICub : public Robot {\n public:\n ICub(size_t frequency = 1000, const std::string& urdf = \"icub/icub.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('icub_description', 'icub/icub_description'));\n\n void reset() override;\n\n const sensor::IMU& imu() const { return *_imu; }\n const sensor::ForceTorque& ft_foot_left() const { return *_ft_foot_left; }\n const sensor::ForceTorque& ft_foot_right() const { return *_ft_foot_right; }\n\n protected:\n std::shared_ptr<sensor::IMU> _imu;\n std::shared_ptr<sensor::ForceTorque> _ft_foot_left;\n std::shared_ptr<sensor::ForceTorque> _ft_foot_right;\n\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > iiwa.cpp
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#include \"robot_dart/robots/iiwa.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/iiwa.cpp
File List > robot_dart > robots > iiwa.cpp
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#include \"robot_dart/robots/iiwa.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Iiwa::Iiwa(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _ft_wrist(std::make_shared<sensor::ForceTorque>(joint(\"iiwa_joint_ee\"), frequency))\n {\n fix_to_world();\n set_position_enforced(true);\n }\n\n void Iiwa::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_ft_wrist);\n }\n\n void Iiwa::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_ft_wrist);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > iiwa.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/iiwa.hpp
File List > robot_dart > robots > iiwa.hpp
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#ifndef ROBOT_DART_ROBOTS_IIWA_HPP\n#define ROBOT_DART_ROBOTS_IIWA_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Iiwa : public Robot {\n public:\n Iiwa(size_t frequency = 1000, const std::string& urdf = \"iiwa/iiwa.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('iiwa_description', 'iiwa/iiwa_description'));\n\n const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }\n\n protected:\n std::shared_ptr<sensor::ForceTorque> _ft_wrist;\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > pendulum.hpp
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#include \"robot_dart/robot.hpp\"The documentation for this class was generated from the following file robot_dart/robots/pendulum.hpp
File List > robot_dart > robots > pendulum.hpp
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#ifndef ROBOT_DART_ROBOTS_PENDULUM_HPP\n#define ROBOT_DART_ROBOTS_PENDULUM_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Pendulum : public Robot {\n public:\n Pendulum(const std::string& urdf = \"pendulum.urdf\") : Robot(urdf)\n {\n fix_to_world();\n set_position_enforced(true);\n set_positions(robot_dart::make_vector({M_PI}));\n }\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > talos.cpp
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#include \"robot_dart/robots/talos.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/talos.cpp
File List > robot_dart > robots > talos.cpp
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#include \"robot_dart/robots/talos.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Talos::Talos(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _imu(std::make_shared<sensor::IMU>(sensor::IMUConfig(body_node(\"imu_link\"), frequency))),\n _ft_foot_left(std::make_shared<sensor::ForceTorque>(joint(\"leg_left_6_joint\"), frequency, \"parent_to_child\")),\n _ft_foot_right(std::make_shared<sensor::ForceTorque>(joint(\"leg_right_6_joint\"), frequency, \"parent_to_child\")),\n _ft_wrist_left(std::make_shared<sensor::ForceTorque>(joint(\"wrist_left_ft_joint\"), frequency, \"parent_to_child\")),\n _ft_wrist_right(std::make_shared<sensor::ForceTorque>(joint(\"wrist_right_ft_joint\"), frequency, \"parent_to_child\")),\n _frequency(frequency)\n {\n // use position/torque limits\n set_position_enforced(true);\n\n // position Talos\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 1.1}));\n }\n\n void Talos::reset()\n {\n Robot::reset();\n\n // position Talos\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 1.1}));\n }\n\n void Talos::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_imu);\n\n simu->add_sensor(_ft_foot_left);\n simu->add_sensor(_ft_foot_right);\n simu->add_sensor(_ft_wrist_left);\n simu->add_sensor(_ft_wrist_right);\n\n // torques sensors\n std::vector<std::string> joints = {\n // torso\n \"torso_1_joint\",\n \"torso_2_joint\",\n // arm_left\n \"arm_left_1_joint\", \"arm_left_2_joint\",\n \"arm_left_3_joint\", \"arm_left_4_joint\",\n // arm_right\n \"arm_right_1_joint\", \"arm_right_2_joint\",\n \"arm_right_3_joint\", \"arm_right_4_joint\",\n // leg_left\n \"leg_left_1_joint\", \"leg_left_2_joint\", \"leg_left_3_joint\",\n \"leg_left_4_joint\", \"leg_left_5_joint\", \"leg_left_6_joint\",\n // leg_right\n \"leg_right_1_joint\", \"leg_right_2_joint\", \"leg_right_3_joint\",\n \"leg_right_4_joint\", \"leg_right_5_joint\", \"leg_right_6_joint\"\n\n };\n for (auto& s : joints) {\n auto t = std::make_shared<sensor::Torque>(joint(s), _frequency);\n _torques[s] = t;\n simu->add_sensor(t);\n }\n }\n\n void Talos::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_imu);\n\n simu->remove_sensor(_ft_foot_left);\n simu->remove_sensor(_ft_foot_right);\n simu->remove_sensor(_ft_wrist_left);\n simu->remove_sensor(_ft_wrist_right);\n\n for (auto& t : _torques) {\n simu->remove_sensor(t.second);\n }\n }\n\n void TalosFastCollision::_post_addition(RobotDARTSimu* simu)\n {\n Talos::_post_addition(simu);\n auto vec = TalosFastCollision::collision_vec();\n for (auto& t : vec) {\n simu->set_collision_masks(simu->robots().size() - 1, std::get<0>(t), std::get<1>(t), std::get<2>(t));\n }\n }\n\n std::vector<std::tuple<std::string, uint32_t, uint32_t>> TalosFastCollision::collision_vec()\n {\n std::vector<std::tuple<std::string, uint32_t, uint32_t>> vec;\n vec.push_back(std::make_tuple(\"leg_right_6_link\", 0x1, 0x1 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_right_4_link\", 0x2, 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_6_link\", 0x4, 0x1 | 0x2 | 0x4 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_4_link\", 0x8, 0x1 | 0x2 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_1_link\", 0x10, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_3_link\", 0x20, 0x1 | 0x2 | 0x4 | 0x8 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_right_1_link\", 0x40, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_right_3_link\", 0x80, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"arm_left_7_link\", 0x100, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"arm_left_5_link\", 0x200, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"arm_right_7_link\", 0x400, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"arm_right_5_link\", 0x800, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"torso_2_link\", 0x1000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000));\n vec.push_back(std::make_tuple(\"base_link\", 0x2000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x2000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_right_2_link\", 0x4000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_2_link\", 0x8000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"head_2_link\", 0x10000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n return vec;\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > talos.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"#include \"robot_dart/sensor/imu.hpp\"#include \"robot_dart/sensor/torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/talos.hpp
File List > robot_dart > robots > talos.hpp
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#ifndef ROBOT_DART_ROBOTS_TALOS_HPP\n#define ROBOT_DART_ROBOTS_TALOS_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n#include \"robot_dart/sensor/torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Talos : public Robot {\n public:\n Talos(size_t frequency = 1000, const std::string& urdf = \"talos/talos.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('talos_description', 'talos/talos_description'));\n\n void reset() override;\n\n const sensor::IMU& imu() const { return *_imu; }\n const sensor::ForceTorque& ft_foot_left() const { return *_ft_foot_left; }\n const sensor::ForceTorque& ft_foot_right() const { return *_ft_foot_right; }\n const sensor::ForceTorque& ft_wrist_left() const { return *_ft_wrist_left; }\n const sensor::ForceTorque& ft_wrist_right() const { return *_ft_wrist_right; }\n\n using torque_map_t = std::unordered_map<std::string, std::shared_ptr<sensor::Torque>>;\n const torque_map_t& torques() const { return _torques; }\n\n protected:\n std::shared_ptr<sensor::IMU> _imu;\n std::shared_ptr<sensor::ForceTorque> _ft_foot_left;\n std::shared_ptr<sensor::ForceTorque> _ft_foot_right;\n std::shared_ptr<sensor::ForceTorque> _ft_wrist_left;\n std::shared_ptr<sensor::ForceTorque> _ft_wrist_right;\n torque_map_t _torques;\n size_t _frequency;\n\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n\n class TalosLight : public Talos {\n public:\n TalosLight(size_t frequency = 1000, const std::string& urdf = \"talos/talos_fast.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('talos_description', 'talos/talos_description')) : Talos(frequency, urdf, packages) {}\n };\n\n // for talos_fast_collision.urdf or talos_box.urdf which have simple box collision shapes\n class TalosFastCollision : public Talos {\n public:\n TalosFastCollision(size_t frequency = 1000, const std::string& urdf = \"talos/talos_fast_collision.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('talos_description', 'talos/talos_description')) : Talos(frequency, urdf, packages) { set_self_collision(); }\n static std::vector<std::tuple<std::string, uint32_t, uint32_t>> collision_vec();\n\n protected:\n void _post_addition(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > tiago.cpp
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#include \"robot_dart/robots/tiago.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/tiago.cpp
File List > robot_dart > robots > tiago.cpp
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#include \"robot_dart/robots/tiago.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Tiago::Tiago(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _ft_wrist(std::make_shared<sensor::ForceTorque>(joint(\"gripper_tool_joint\"), frequency))\n {\n set_position_enforced(true);\n // We use servo actuators, but not for the caster joints\n set_actuator_types(\"servo\");\n\n // position Tiago\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.}));\n }\n\n void Tiago::reset()\n {\n Robot::reset();\n\n // position Tiago\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.}));\n }\n\n void Tiago::set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names, bool override_mimic, bool override_base, bool override_caster)\n {\n auto jt = joint_names;\n if (!override_caster) {\n if (joint_names.size() == 0)\n jt = Robot::joint_names();\n for (const auto& jnt : caster_joints()) {\n auto it = std::find(jt.begin(), jt.end(), jnt);\n if (it != jt.end()) {\n jt.erase(it);\n }\n }\n }\n Robot::set_actuator_types(type, jt, override_mimic, override_base);\n }\n\n void Tiago::set_actuator_type(const std::string& type, const std::string& joint_name, bool override_mimic, bool override_base, bool override_caster)\n {\n set_actuator_types(type, {joint_name}, override_mimic, override_base, override_caster);\n }\n\n void Tiago::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_ft_wrist);\n }\n\n void Tiago::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_ft_wrist);\n }\n\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > tiago.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/tiago.hpp
File List > robot_dart > robots > tiago.hpp
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#ifndef ROBOT_DART_ROBOTS_TIAGO_HPP\n#define ROBOT_DART_ROBOTS_TIAGO_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Tiago : public Robot {\n public:\n Tiago(size_t frequency = 1000, const std::string& urdf = \"tiago/tiago_steel.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('tiago_description', 'tiago/tiago_description'));\n\n void reset() override;\n\n const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }\n\n std::vector<std::string> caster_joints() const { return {\"caster_back_left_2_joint\", \"caster_back_left_1_joint\", \"caster_back_right_2_joint\", \"caster_back_right_1_joint\", \"caster_front_left_2_joint\", \"caster_front_left_1_joint\", \"caster_front_right_2_joint\", \"caster_front_right_1_joint\"}; }\n\n void set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names = {}, bool override_mimic = false, bool override_base = false, bool override_caster = false);\n void set_actuator_type(const std::string& type, const std::string& joint_name, bool override_mimic = false, bool override_base = false, bool override_caster = false);\n\n protected:\n std::shared_ptr<sensor::ForceTorque> _ft_wrist;\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > ur3e.cpp
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#include \"robot_dart/robots/ur3e.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/ur3e.cpp
File List > robot_dart > robots > ur3e.cpp
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#include \"robot_dart/robots/ur3e.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Ur3e::Ur3e(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _ft_wrist(std::make_shared<sensor::ForceTorque>(joint(\"wrist_3-flange\"), frequency))\n {\n fix_to_world();\n set_position_enforced(true);\n set_color_mode(\"material\");\n }\n\n void Ur3e::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_ft_wrist);\n }\n\n void Ur3e::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_ft_wrist);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > ur3e.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/ur3e.hpp
File List > robot_dart > robots > ur3e.hpp
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#ifndef ROBOT_DART_ROBOTS_UR3E_HPP\n#define ROBOT_DART_ROBOTS_UR3E_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Ur3e : public Robot {\n public:\n Ur3e(size_t frequency = 1000, const std::string& urdf = \"ur3e/ur3e.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('ur3e_description', 'ur3e/ur3e_description'));\n\n const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }\n\n protected:\n std::shared_ptr<sensor::ForceTorque> _ft_wrist;\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n\n class Ur3eHand : public Ur3e {\n public:\n Ur3eHand(size_t frequency = 1000, const std::string& urdf = \"ur3e/ur3e_with_schunk_hand.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('ur3e_description', 'ur3e/ur3e_description')) : Ur3e(frequency, urdf, packages) {}\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > vx300.hpp
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#include \"robot_dart/robot.hpp\"The documentation for this class was generated from the following file robot_dart/robots/vx300.hpp
File List > robot_dart > robots > vx300.hpp
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#ifndef ROBOT_DART_ROBOTS_VX300_HPP\n#define ROBOT_DART_ROBOTS_VX300_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Vx300 : public Robot {\n public:\n Vx300(const std::string& urdf = \"vx300/vx300.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('interbotix_xsarm_descriptions', 'vx300')) : Robot(urdf, packages)\n {\n fix_to_world();\n set_position_enforced(true);\n set_color_mode(\"aspect\");\n }\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > sensor
"},{"location":"api/dir_d1adb19f0b40b70b30ee0daf1901679b/#files","title":"Files","text":"Type Name file force_torque.cpp file force_torque.hpp file imu.cpp file imu.hpp file sensor.cpp file sensor.hpp file torque.cpp file torque.hppThe documentation for this class was generated from the following file robot_dart/sensor/
FileList > robot_dart > sensor > force_torque.cpp
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#include \"force_torque.hpp\"#include <robot_dart/utils_headers_dart_dynamics.hpp>The documentation for this class was generated from the following file robot_dart/sensor/force_torque.cpp
File List > robot_dart > sensor > force_torque.cpp
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#include \"force_torque.hpp\"\n\n#include <robot_dart/utils_headers_dart_dynamics.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n ForceTorque::ForceTorque(dart::dynamics::Joint* joint, size_t frequency, const std::string& direction) : Sensor(frequency), _direction(direction)\n {\n attach_to_joint(joint, Eigen::Isometry3d::Identity());\n }\n\n void ForceTorque::init()\n {\n _wrench.setZero();\n\n attach_to_joint(_joint_attached, Eigen::Isometry3d::Identity());\n _active = true;\n }\n\n void ForceTorque::calculate(double)\n {\n if (!_attached_to_joint)\n return; // cannot compute anything if not attached to a joint\n\n Eigen::Vector6d wrench = Eigen::Vector6d::Zero();\n auto child_body = _joint_attached->getChildBodyNode();\n ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", );\n\n wrench = -dart::math::dAdT(_joint_attached->getTransformFromChildBodyNode(), child_body->getBodyForce());\n\n // We always compute things in SENSOR frame (aka joint frame)\n if (_direction == \"parent_to_child\") {\n _wrench = wrench;\n }\n else // \"child_to_parent\" (default)\n {\n _wrench = -wrench;\n }\n }\n\n std::string ForceTorque::type() const { return \"ft\"; }\n\n Eigen::Vector3d ForceTorque::force() const\n {\n return _wrench.tail(3);\n }\n\n Eigen::Vector3d ForceTorque::torque() const\n {\n return _wrench.head(3);\n }\n\n const Eigen::Vector6d& ForceTorque::wrench() const\n {\n return _wrench;\n }\n } // namespace sensor\n} // namespace robot_dart\nFileList > robot_dart > sensor > force_torque.hpp
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#include <robot_dart/sensor/sensor.hpp>The documentation for this class was generated from the following file robot_dart/sensor/force_torque.hpp
File List > robot_dart > sensor > force_torque.hpp
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#ifndef ROBOT_DART_SENSOR_FORCE_TORQUE_HPP\n#define ROBOT_DART_SENSOR_FORCE_TORQUE_HPP\n\n#include <robot_dart/sensor/sensor.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n class ForceTorque : public Sensor {\n public:\n ForceTorque(dart::dynamics::Joint* joint, size_t frequency = 1000, const std::string& direction = \"child_to_parent\");\n ForceTorque(const std::shared_ptr<Robot>& robot, const std::string& joint_name, size_t frequency = 1000, const std::string& direction = \"child_to_parent\") : ForceTorque(robot->joint(joint_name), frequency, direction) {}\n\n void init() override;\n\n void calculate(double) override;\n\n std::string type() const override;\n\n Eigen::Vector3d force() const;\n Eigen::Vector3d torque() const;\n const Eigen::Vector6d& wrench() const;\n\n void attach_to_body(dart::dynamics::BodyNode*, const Eigen::Isometry3d&) override\n {\n ROBOT_DART_WARNING(true, \"You cannot attach a force/torque sensor to a body!\");\n }\n\n protected:\n std::string _direction;\n\n Eigen::Vector6d _wrench;\n };\n } // namespace sensor\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > sensor > imu.cpp
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#include \"imu.hpp\"#include <robot_dart/robot_dart_simu.hpp>#include <robot_dart/utils_headers_dart_dynamics.hpp>The documentation for this class was generated from the following file robot_dart/sensor/imu.cpp
File List > robot_dart > sensor > imu.cpp
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#include \"imu.hpp\"\n\n#include <robot_dart/robot_dart_simu.hpp>\n#include <robot_dart/utils_headers_dart_dynamics.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n IMU::IMU(const IMUConfig& config) : Sensor(config.frequency), _config(config) {}\n\n void IMU::init()\n {\n _angular_vel.setZero();\n _linear_accel.setZero();\n\n attach_to_body(_config.body, Eigen::Isometry3d::Identity());\n if (_simu)\n _active = true;\n }\n\n void IMU::calculate(double)\n {\n if (!_attached_to_body)\n return; // cannot compute anything if not attached to a link\n ROBOT_DART_EXCEPTION_ASSERT(_simu, \"Simulation pointer is null!\");\n\n Eigen::Vector3d tmp = dart::math::logMap(_body_attached->getTransform(dart::dynamics::Frame::World(), _body_attached).linear().matrix());\n _angular_pos = Eigen::AngleAxisd(tmp.norm(), tmp.normalized());\n _angular_vel = _body_attached->getSpatialVelocity().head(3); // angular velocity with respect to the world, in local coordinates\n _linear_accel = _body_attached->getSpatialAcceleration().tail(3); // linear acceleration with respect to the world, in local coordinates\n\n // add biases\n _angular_vel += _config.gyro_bias;\n _linear_accel += _config.accel_bias;\n\n // add gravity to acceleration\n _linear_accel -= _world_pose.linear().transpose() * _simu->gravity();\n }\n\n std::string IMU::type() const { return \"imu\"; }\n\n const Eigen::AngleAxisd& IMU::angular_position() const\n {\n return _angular_pos;\n }\n\n Eigen::Vector3d IMU::angular_position_vec() const\n {\n return _angular_pos.angle() * _angular_pos.axis();\n }\n\n const Eigen::Vector3d& IMU::angular_velocity() const\n {\n return _angular_vel;\n }\n\n const Eigen::Vector3d& IMU::linear_acceleration() const\n {\n return _linear_accel;\n }\n } // namespace sensor\n} // namespace robot_dart\nFileList > robot_dart > sensor > imu.hpp
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#include <robot_dart/sensor/sensor.hpp>The documentation for this class was generated from the following file robot_dart/sensor/imu.hpp
File List > robot_dart > sensor > imu.hpp
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#ifndef ROBOT_DART_SENSOR_IMU_HPP\n#define ROBOT_DART_SENSOR_IMU_HPP\n\n#include <robot_dart/sensor/sensor.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n // TO-DO: Implement some noise models (e.g., https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model)\n struct IMUConfig {\n IMUConfig(dart::dynamics::BodyNode* b, size_t f) : gyro_bias(Eigen::Vector3d::Zero()), accel_bias(Eigen::Vector3d::Zero()), body(b), frequency(f){};\n IMUConfig(const Eigen::Vector3d& gyro_bias, const Eigen::Vector3d& accel_bias, dart::dynamics::BodyNode* b, size_t f) : gyro_bias(gyro_bias), accel_bias(accel_bias), body(b), frequency(f){};\n IMUConfig() : gyro_bias(Eigen::Vector3d::Zero()), accel_bias(Eigen::Vector3d::Zero()), body(nullptr), frequency(200) {}\n\n // We assume fixed bias; TO-DO: Make this time-dependent\n Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero();\n Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero();\n\n // // We assume white Gaussian noise // TO-DO: Implement this\n // Eigen::Vector3d _gyro_std = Eigen::Vector3d::Zero();\n // Eigen::Vector3d _accel_std = Eigen::Vector3d::Zero();\n\n // BodyNode/Link attached to\n dart::dynamics::BodyNode* body = nullptr;\n // Eigen::Isometry3d _tf = Eigen::Isometry3d::Identity();\n\n // Frequency\n size_t frequency = 200;\n };\n\n class IMU : public Sensor {\n public:\n IMU(const IMUConfig& config);\n\n void init() override;\n\n void calculate(double) override;\n\n std::string type() const override;\n\n const Eigen::AngleAxisd& angular_position() const;\n Eigen::Vector3d angular_position_vec() const;\n const Eigen::Vector3d& angular_velocity() const;\n const Eigen::Vector3d& linear_acceleration() const;\n\n void attach_to_joint(dart::dynamics::Joint*, const Eigen::Isometry3d&) override\n {\n ROBOT_DART_WARNING(true, \"You cannot attach an IMU sensor to a joint!\");\n }\n\n protected:\n // double _prev_time = 0.;\n IMUConfig _config;\n\n Eigen::AngleAxisd _angular_pos; // TO-DO: Check how to do this as close as possible to real sensors\n Eigen::Vector3d _angular_vel;\n Eigen::Vector3d _linear_accel;\n };\n } // namespace sensor\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > sensor > sensor.cpp
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#include \"sensor.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"#include \"robot_dart/utils.hpp\"#include \"robot_dart/utils_headers_dart_dynamics.hpp\"The documentation for this class was generated from the following file robot_dart/sensor/sensor.cpp
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#include \"sensor.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n namespace sensor {\n Sensor::Sensor(size_t freq) : _active(false), _frequency(freq), _world_pose(Eigen::Isometry3d::Identity()), _attaching_to_body(false), _attached_to_body(false), _attaching_to_joint(false), _attached_to_joint(false) {}\n\n void Sensor::activate(bool enable)\n {\n _active = false;\n if (enable) {\n init();\n }\n }\n\n bool Sensor::active() const\n {\n return _active;\n }\n\n void Sensor::set_simu(RobotDARTSimu* simu)\n {\n ROBOT_DART_EXCEPTION_ASSERT(simu, \"Simulation pointer is null!\");\n _simu = simu;\n bool check = static_cast<int>(_frequency) > simu->physics_freq();\n ROBOT_DART_WARNING(check, \"Sensor frequency is bigger than simulation physics. Setting it to simulation rate!\");\n if (check)\n _frequency = simu->physics_freq();\n }\n\n const RobotDARTSimu* Sensor::simu() const\n {\n return _simu;\n }\n\n size_t Sensor::frequency() const { return _frequency; }\n void Sensor::set_frequency(size_t freq) { _frequency = freq; }\n\n void Sensor::set_pose(const Eigen::Isometry3d& tf) { _world_pose = tf; }\n const Eigen::Isometry3d& Sensor::pose() const { return _world_pose; }\n\n void Sensor::detach()\n {\n _attached_to_body = false;\n _attached_to_joint = false;\n _body_attached = nullptr;\n _joint_attached = nullptr;\n _active = false;\n }\n\n void Sensor::refresh(double t)\n {\n if (!_active)\n return;\n if (_attaching_to_body && !_attached_to_body) {\n attach_to_body(_body_attached, _attached_tf);\n }\n else if (_attaching_to_joint && !_attached_to_joint) {\n attach_to_joint(_joint_attached, _attached_tf);\n }\n\n if (_attached_to_body && _body_attached) {\n _world_pose = _body_attached->getWorldTransform() * _attached_tf;\n }\n else if (_attached_to_joint && _joint_attached) {\n dart::dynamics::BodyNode* body = nullptr;\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n\n if (_joint_attached->getParentBodyNode()) {\n body = _joint_attached->getParentBodyNode();\n tf = _joint_attached->getTransformFromParentBodyNode();\n }\n else if (_joint_attached->getChildBodyNode()) {\n body = _joint_attached->getChildBodyNode();\n tf = _joint_attached->getTransformFromChildBodyNode();\n }\n\n if (body)\n _world_pose = body->getWorldTransform() * tf * _attached_tf;\n }\n calculate(t);\n }\n\n void Sensor::attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d& tf)\n {\n _body_attached = body;\n _attached_tf = tf;\n\n if (_body_attached) {\n _attaching_to_body = false;\n _attached_to_body = true;\n\n _attaching_to_joint = false;\n _attached_to_joint = false;\n _joint_attached = nullptr;\n }\n else { // we cannot keep attaching to a null BodyNode\n _attaching_to_body = false;\n _attached_to_body = false;\n }\n }\n\n void Sensor::attach_to_joint(dart::dynamics::Joint* joint, const Eigen::Isometry3d& tf)\n {\n _joint_attached = joint;\n _attached_tf = tf;\n\n if (_joint_attached) {\n _attaching_to_joint = false;\n _attached_to_joint = true;\n\n _attaching_to_body = false;\n _attached_to_body = false;\n }\n else { // we cannot keep attaching to a null Joint\n _attaching_to_joint = false;\n _attached_to_joint = false;\n }\n }\n const std::string& Sensor::attached_to() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_attached_to_body || _attached_to_joint, \"Joint is not attached to anything\");\n if (_attached_to_body)\n return _body_attached->getName();\n // attached to joint\n return _joint_attached->getName();\n }\n } // namespace sensor\n} // namespace robot_dart\nFileList > robot_dart > sensor > sensor.hpp
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#include <robot_dart/robot.hpp>#include <robot_dart/utils.hpp>#include <memory>#include <vector>The documentation for this class was generated from the following file robot_dart/sensor/sensor.hpp
File List > robot_dart > sensor > sensor.hpp
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#ifndef ROBOT_DART_SENSOR_SENSOR_HPP\n#define ROBOT_DART_SENSOR_SENSOR_HPP\n\n#include <robot_dart/robot.hpp>\n#include <robot_dart/utils.hpp>\n\n#include <memory>\n#include <vector>\n\nnamespace dart {\n namespace dynamics {\n class BodyNode;\n class Joint;\n } // namespace dynamics\n} // namespace dart\n\nnamespace robot_dart {\n class RobotDARTSimu;\n\n namespace sensor {\n class Sensor {\n public:\n Sensor(size_t freq = 40);\n virtual ~Sensor() {}\n\n void activate(bool enable = true);\n bool active() const;\n\n void set_simu(RobotDARTSimu* simu);\n const RobotDARTSimu* simu() const;\n\n size_t frequency() const;\n void set_frequency(size_t freq);\n\n void set_pose(const Eigen::Isometry3d& tf);\n const Eigen::Isometry3d& pose() const;\n\n void refresh(double t);\n\n virtual void init() = 0;\n // TO-DO: Maybe make this const?\n virtual void calculate(double) = 0;\n\n virtual std::string type() const = 0;\n\n virtual void attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity());\n void attach_to_body(const std::shared_ptr<Robot>& robot, const std::string& body_name, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity()) { attach_to_body(robot->body_node(body_name), tf); }\n\n virtual void attach_to_joint(dart::dynamics::Joint* joint, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity());\n void attach_to_joint(const std::shared_ptr<Robot>& robot, const std::string& joint_name, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity()) { attach_to_joint(robot->joint(joint_name), tf); }\n\n void detach();\n const std::string& attached_to() const;\n\n protected:\n RobotDARTSimu* _simu = nullptr;\n bool _active;\n size_t _frequency;\n\n Eigen::Isometry3d _world_pose;\n\n bool _attaching_to_body = false, _attached_to_body = false;\n bool _attaching_to_joint = false, _attached_to_joint = false;\n Eigen::Isometry3d _attached_tf;\n dart::dynamics::BodyNode* _body_attached;\n dart::dynamics::Joint* _joint_attached;\n };\n } // namespace sensor\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > sensor > torque.cpp
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#include \"torque.hpp\"#include <robot_dart/robot_dart_simu.hpp>#include <robot_dart/utils_headers_dart_dynamics.hpp>The documentation for this class was generated from the following file robot_dart/sensor/torque.cpp
File List > robot_dart > sensor > torque.cpp
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#include \"torque.hpp\"\n\n#include <robot_dart/robot_dart_simu.hpp>\n#include <robot_dart/utils_headers_dart_dynamics.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n Torque::Torque(dart::dynamics::Joint* joint, size_t frequency) : Sensor(frequency), _torques(joint->getNumDofs())\n {\n attach_to_joint(joint, Eigen::Isometry3d::Identity());\n }\n\n void Torque::init()\n {\n _torques.setZero();\n\n attach_to_joint(_joint_attached, Eigen::Isometry3d::Identity());\n _active = true;\n }\n\n void Torque::calculate(double)\n {\n if (!_attached_to_joint)\n return; // cannot compute anything if not attached to a joint\n\n Eigen::Vector6d wrench = Eigen::Vector6d::Zero();\n auto child_body = _joint_attached->getChildBodyNode();\n ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", );\n\n wrench = child_body->getBodyForce();\n\n // get forces for only the only degrees of freedom in this joint\n _torques = _joint_attached->getRelativeJacobian().transpose() * wrench;\n }\n\n std::string Torque::type() const { return \"t\"; }\n\n const Eigen::VectorXd& Torque::torques() const\n {\n return _torques;\n }\n } // namespace sensor\n} // namespace robot_dart\nFileList > robot_dart > sensor > torque.hpp
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#include <robot_dart/sensor/sensor.hpp>The documentation for this class was generated from the following file robot_dart/sensor/torque.hpp
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#ifndef ROBOT_DART_SENSOR_TORQUE_HPP\n#define ROBOT_DART_SENSOR_TORQUE_HPP\n\n#include <robot_dart/sensor/sensor.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n class Torque : public Sensor {\n public:\n Torque(dart::dynamics::Joint* joint, size_t frequency = 1000);\n Torque(const std::shared_ptr<Robot>& robot, const std::string& joint_name, size_t frequency = 1000) : Torque(robot->joint(joint_name), frequency) {}\n\n void init() override;\n\n void calculate(double) override;\n\n std::string type() const override;\n\n const Eigen::VectorXd& torques() const;\n\n void attach_to_body(dart::dynamics::BodyNode*, const Eigen::Isometry3d&) override\n {\n ROBOT_DART_WARNING(true, \"You cannot attach a torque sensor to a body!\");\n }\n\n protected:\n Eigen::VectorXd _torques;\n };\n } // namespace sensor\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > robot_dart_simu.cpp
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#include \"robot_dart_simu.hpp\"#include \"gui_data.hpp\"#include \"utils.hpp\"#include \"utils_headers_dart_collision.hpp\"#include \"utils_headers_dart_dynamics.hpp\"#include <sstream>The documentation for this class was generated from the following file robot_dart/robot_dart_simu.cpp
File List > robot_dart > robot_dart_simu.cpp
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#include \"robot_dart_simu.hpp\"\n#include \"gui_data.hpp\"\n#include \"utils.hpp\"\n#include \"utils_headers_dart_collision.hpp\"\n#include \"utils_headers_dart_dynamics.hpp\"\n\n#include <sstream>\n\nnamespace robot_dart {\n namespace collision_filter {\n // This is inspired from Swift: https://developer.apple.com/documentation/spritekit/skphysicsbody#//apple_ref/occ/instp/SKPhysicsBody/collisionBitMask\n // https://stackoverflow.com/questions/39063949/cant-understand-how-collision-bit-mask-works\n class BitmaskContactFilter : public dart::collision::BodyNodeCollisionFilter {\n public:\n using DartCollisionConstPtr = const dart::collision::CollisionObject*;\n using DartShapeConstPtr = const dart::dynamics::ShapeNode*;\n\n struct Masks {\n uint32_t collision_mask = 0xffffffff;\n uint32_t category_mask = 0xffffffff;\n };\n\n virtual ~BitmaskContactFilter() = default;\n\n // This function follows DART's coding style as it needs to override a function\n bool ignoresCollision(DartCollisionConstPtr object1, DartCollisionConstPtr object2) const override\n {\n auto shape_node1 = object1->getShapeFrame()->asShapeNode();\n auto shape_node2 = object2->getShapeFrame()->asShapeNode();\n\n if (dart::collision::BodyNodeCollisionFilter::ignoresCollision(object1, object2))\n return true;\n\n auto shape1_iter = _bitmask_map.find(shape_node1);\n auto shape2_iter = _bitmask_map.find(shape_node2);\n if (shape1_iter != _bitmask_map.end() && shape2_iter != _bitmask_map.end()) {\n auto col_mask1 = shape1_iter->second.collision_mask;\n auto cat_mask1 = shape1_iter->second.category_mask;\n\n auto col_mask2 = shape2_iter->second.collision_mask;\n auto cat_mask2 = shape2_iter->second.category_mask;\n\n if ((col_mask1 & cat_mask2) == 0 && (col_mask2 & cat_mask1) == 0)\n return true;\n }\n\n return false;\n }\n\n void add_to_map(DartShapeConstPtr shape, uint32_t col_mask, uint32_t cat_mask)\n {\n _bitmask_map[shape] = {col_mask, cat_mask};\n }\n\n void add_to_map(dart::dynamics::SkeletonPtr skel, uint32_t col_mask, uint32_t cat_mask)\n {\n for (std::size_t i = 0; i < skel->getNumShapeNodes(); ++i) {\n auto shape = skel->getShapeNode(i);\n this->add_to_map(shape, col_mask, cat_mask);\n }\n }\n\n void remove_from_map(DartShapeConstPtr shape)\n {\n auto shape_iter = _bitmask_map.find(shape);\n if (shape_iter != _bitmask_map.end())\n _bitmask_map.erase(shape_iter);\n }\n\n void remove_from_map(dart::dynamics::SkeletonPtr skel)\n {\n for (std::size_t i = 0; i < skel->getNumShapeNodes(); ++i) {\n auto shape = skel->getShapeNode(i);\n this->remove_from_map(shape);\n }\n }\n\n void clear_all() { _bitmask_map.clear(); }\n\n Masks mask(DartShapeConstPtr shape) const\n {\n auto shape_iter = _bitmask_map.find(shape);\n if (shape_iter != _bitmask_map.end())\n return shape_iter->second;\n return {0xffffffff, 0xffffffff};\n }\n\n private:\n // We need ShapeNodes and not BodyNodes, since in DART collision checking is performed in ShapeNode-level\n // in RobotDARTSimu, we only allow setting one mask per BodyNode; maybe we can improve the performance of this slightly\n std::unordered_map<DartShapeConstPtr, Masks> _bitmask_map;\n };\n } // namespace collision_filter\n\n RobotDARTSimu::RobotDARTSimu(double timestep) : _world(std::make_shared<dart::simulation::World>()),\n _old_index(0),\n _break(false),\n _scheduler(timestep),\n _physics_freq(std::round(1. / timestep)),\n _control_freq(_physics_freq)\n {\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::DARTCollisionDetector::create());\n _world->getConstraintSolver()->getCollisionOption().collisionFilter = std::make_shared<collision_filter::BitmaskContactFilter>();\n _world->setTimeStep(timestep);\n _world->setTime(0.0);\n _graphics = std::make_shared<gui::Base>();\n\n _gui_data.reset(new simu::GUIData());\n }\n\n RobotDARTSimu::~RobotDARTSimu()\n {\n _robots.clear();\n _sensors.clear();\n }\n\n void RobotDARTSimu::run(double max_duration, bool reset_commands, bool force_position_bounds)\n {\n _break = false;\n double old_time = _world->getTime();\n double factor = _world->getTimeStep() / 2.;\n\n while ((_world->getTime() - old_time - max_duration) < -factor) {\n if (step(reset_commands, force_position_bounds))\n break;\n }\n }\n\n bool RobotDARTSimu::step_world(bool reset_commands, bool force_position_bounds)\n {\n if (_scheduler(_physics_freq)) {\n _world->step(reset_commands);\n if (force_position_bounds)\n for (auto& r : _robots)\n r->force_position_bounds();\n }\n\n // Update graphics\n if (_scheduler(_graphics_freq)) {\n // Update default texts\n if (_text_panel) { // Need to re-transform as the size of the window might have changed\n Eigen::Affine2d tf = Eigen::Affine2d::Identity();\n tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., _graphics->height() / 2.));\n // tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., 0.));\n _text_panel->transformation = tf;\n }\n if (_status_bar) {\n _status_bar->text = status_bar_text(); // this is dynamic text (timings)\n Eigen::Affine2d tf = Eigen::Affine2d::Identity();\n tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., -static_cast<double>(_graphics->height() / 2.)));\n // tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., 0.));\n _status_bar->transformation = tf;\n }\n\n // Update robot-specific GUI data\n for (auto& robot : _robots) {\n _gui_data->update_robot(robot);\n }\n\n _graphics->refresh();\n }\n\n // update sensors\n for (auto& sensor : _sensors) {\n if (sensor->active() && _scheduler(sensor->frequency())) {\n sensor->refresh(_world->getTime());\n }\n }\n\n _old_index++;\n _scheduler.step();\n\n return _break || _graphics->done();\n }\n\n bool RobotDARTSimu::step(bool reset_commands, bool force_position_bounds)\n {\n if (_scheduler(_control_freq)) {\n for (auto& robot : _robots) {\n robot->update(_world->getTime());\n }\n }\n\n return step_world(reset_commands, force_position_bounds);\n }\n\n std::shared_ptr<gui::Base> RobotDARTSimu::graphics() const\n {\n return _graphics;\n }\n\n void RobotDARTSimu::set_graphics(const std::shared_ptr<gui::Base>& graphics)\n {\n _graphics = graphics;\n _graphics->set_simu(this);\n _graphics->set_fps(_graphics_freq);\n }\n\n dart::simulation::WorldPtr RobotDARTSimu::world()\n {\n return _world;\n }\n\n void RobotDARTSimu::add_sensor(const std::shared_ptr<sensor::Sensor>& sensor)\n {\n _sensors.push_back(sensor);\n sensor->set_simu(this);\n sensor->init();\n }\n\n std::vector<std::shared_ptr<sensor::Sensor>> RobotDARTSimu::sensors() const\n {\n return _sensors;\n }\n\n std::shared_ptr<sensor::Sensor> RobotDARTSimu::sensor(size_t index) const\n {\n ROBOT_DART_ASSERT(index < _sensors.size(), \"Sensor index out of bounds\", nullptr);\n return _sensors[index];\n }\n\n void RobotDARTSimu::remove_sensor(const std::shared_ptr<sensor::Sensor>& sensor)\n {\n auto it = std::find(_sensors.begin(), _sensors.end(), sensor);\n if (it != _sensors.end()) {\n _sensors.erase(it);\n }\n }\n\n void RobotDARTSimu::remove_sensor(size_t index)\n {\n ROBOT_DART_ASSERT(index < _sensors.size(), \"Sensor index out of bounds\", );\n _sensors.erase(_sensors.begin() + index);\n }\n\n void RobotDARTSimu::remove_sensors(const std::string& type)\n {\n for (int i = 0; i < static_cast<int>(_sensors.size()); i++) {\n auto& sensor = _sensors[i];\n if (sensor->type() == type) {\n _sensors.erase(_sensors.begin() + i);\n i--;\n }\n }\n }\n\n void RobotDARTSimu::clear_sensors()\n {\n _sensors.clear();\n }\n\n double RobotDARTSimu::timestep() const\n {\n return _world->getTimeStep();\n }\n\n void RobotDARTSimu::set_timestep(double timestep, bool update_control_freq)\n {\n _world->setTimeStep(timestep);\n _physics_freq = std::round(1. / timestep);\n if (update_control_freq)\n _control_freq = _physics_freq;\n\n _scheduler.reset(timestep, _scheduler.sync(), _scheduler.current_time(), _scheduler.real_time());\n }\n\n Eigen::Vector3d RobotDARTSimu::gravity() const\n {\n return _world->getGravity();\n }\n\n void RobotDARTSimu::set_gravity(const Eigen::Vector3d& gravity)\n {\n _world->setGravity(gravity);\n }\n\n void RobotDARTSimu::stop_sim(bool disable)\n {\n _break = disable;\n }\n\n bool RobotDARTSimu::halted_sim() const\n {\n return _break;\n }\n\n size_t RobotDARTSimu::num_robots() const\n {\n return _robots.size();\n }\n\n const std::vector<std::shared_ptr<Robot>>& RobotDARTSimu::robots() const\n {\n return _robots;\n }\n\n std::shared_ptr<Robot> RobotDARTSimu::robot(size_t index) const\n {\n ROBOT_DART_ASSERT(index < _robots.size(), \"Robot index out of bounds\", nullptr);\n return _robots[index];\n }\n\n int RobotDARTSimu::robot_index(const std::shared_ptr<Robot>& robot) const\n {\n auto it = std::find(_robots.begin(), _robots.end(), robot);\n ROBOT_DART_ASSERT(it != _robots.end(), \"Robot index out of bounds\", -1);\n return std::distance(_robots.begin(), it);\n }\n\n void RobotDARTSimu::add_robot(const std::shared_ptr<Robot>& robot)\n {\n if (robot->skeleton()) {\n _robots.push_back(robot);\n _world->addSkeleton(robot->skeleton());\n\n robot->_post_addition(this);\n\n _gui_data->update_robot(robot);\n }\n }\n\n void RobotDARTSimu::add_visual_robot(const std::shared_ptr<Robot>& robot)\n {\n if (robot->skeleton()) {\n // make robot a pure visual one -- assuming that the color is already set\n // visual robots do not do physics updates\n robot->skeleton()->setMobile(false);\n for (auto& bd : robot->skeleton()->getBodyNodes()) {\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n // visual robots do not have collisions\n bd->eachShapeNodeWith<dart::dynamics::CollisionAspect>([](dart::dynamics::ShapeNode* shape) {\n shape->removeAspect<dart::dynamics::CollisionAspect>();\n });\n#else\n auto& collision_shapes = bd->getShapeNodesWith<dart::dynamics::CollisionAspect>();\n for (auto& shape : collision_shapes) {\n shape->removeAspect<dart::dynamics::CollisionAspect>();\n }\n#endif\n }\n\n // visual robots, by default, use the color from the VisualAspect\n robot->set_color_mode(\"aspect\");\n\n // visual robots do not cast shadows\n robot->set_cast_shadows(false);\n // set the ghost/visual flag\n robot->set_ghost(true);\n robot->_post_addition(this);\n\n _robots.push_back(robot);\n _world->addSkeleton(robot->skeleton());\n\n _gui_data->update_robot(robot);\n }\n }\n\n void RobotDARTSimu::remove_robot(const std::shared_ptr<Robot>& robot)\n {\n auto it = std::find(_robots.begin(), _robots.end(), robot);\n if (it != _robots.end()) {\n robot->_post_removal(this);\n _gui_data->remove_robot(robot);\n _world->removeSkeleton(robot->skeleton());\n _robots.erase(it);\n }\n }\n\n void RobotDARTSimu::remove_robot(size_t index)\n {\n ROBOT_DART_ASSERT(index < _robots.size(), \"Robot index out of bounds\", );\n _robots[index]->_post_removal(this);\n _gui_data->remove_robot(_robots[index]);\n _world->removeSkeleton(_robots[index]->skeleton());\n _robots.erase(_robots.begin() + index);\n }\n\n void RobotDARTSimu::clear_robots()\n {\n for (auto& robot : _robots) {\n robot->_post_removal(this);\n _gui_data->remove_robot(robot);\n _world->removeSkeleton(robot->skeleton());\n }\n _robots.clear();\n }\n\n simu::GUIData* RobotDARTSimu::gui_data() { return &(*_gui_data); }\n\n void RobotDARTSimu::enable_text_panel(bool enable, double font_size)\n {\n _enable(_text_panel, enable, font_size);\n if (enable) {\n _text_panel->alignment = 3 << 2; // alignment of status bar should be LineTop; TO-DO: Check how to get types automatically from Magnum?\n // _text_panel->draw_background = true; // we want to draw a background\n // _text_panel->background_color = Eigen::Vector4d(0, 0, 0, 0.75); // black-transparent bar\n }\n }\n\n void RobotDARTSimu::enable_status_bar(bool enable, double font_size)\n {\n _enable(_status_bar, enable, font_size);\n if (enable) {\n _status_bar->alignment = 1 << 2; // alignment of status bar should be LineBottom; TO-DO: Check how to get types automatically from Magnum?\n _status_bar->draw_background = true; // we want to draw a background\n _status_bar->background_color = Eigen::Vector4d(0, 0, 0, 0.75); // black-transparent bar\n }\n }\n\n void RobotDARTSimu::_enable(std::shared_ptr<simu::TextData>& text, bool enable, double font_size)\n {\n if (!text && enable) {\n text = add_text(\"\");\n }\n else if (!enable) {\n if (text)\n _gui_data->remove_text(text);\n text = nullptr;\n }\n if (text && font_size > 0)\n text->font_size = font_size;\n }\n\n void RobotDARTSimu::set_text_panel(const std::string& str)\n {\n ROBOT_DART_ASSERT(_text_panel, \"Panel text object not created. Use enable_text_panel() to create it.\", );\n _text_panel->text = str;\n }\n\n std::string RobotDARTSimu::text_panel_text() const\n {\n ROBOT_DART_ASSERT(_text_panel, \"Panel text object not created. Returning empty string.\", \"\");\n return _text_panel->text;\n }\n\n std::string RobotDARTSimu::status_bar_text() const\n {\n std::ostringstream out;\n out.precision(3);\n double rt = _scheduler.real_time();\n\n out << std::fixed << \"[simulation time: \" << _world->getTime()\n << \"s ] [\"\n << \"wall time: \" << rt << \"s] [\";\n out.precision(1);\n out << _scheduler.real_time_factor() << \"x]\";\n out << \" [it: \" << _scheduler.it_duration() * 1e3 << \" ms]\";\n out << (_scheduler.sync() ? \" [sync]\" : \" [no-sync]\");\n\n return out.str();\n }\n\n std::shared_ptr<simu::TextData> RobotDARTSimu::add_text(const std::string& text, const Eigen::Affine2d& tf, Eigen::Vector4d color, std::uint8_t alignment, bool draw_bg, Eigen::Vector4d bg_color, double font_size)\n {\n return _gui_data->add_text(text, tf, color, alignment, draw_bg, bg_color, font_size);\n }\n\n std::shared_ptr<Robot> RobotDARTSimu::add_floor(double floor_width, double floor_height, const Eigen::Isometry3d& tf, const std::string& floor_name)\n {\n ROBOT_DART_ASSERT((_world->getSkeleton(floor_name) == nullptr), \"We cannot have 2 floors with the name '\" + floor_name + \"'\", nullptr);\n ROBOT_DART_ASSERT((floor_width > 0. && floor_height > 0.), \"Floor dimensions should be bigger than zero!\", nullptr);\n\n dart::dynamics::SkeletonPtr floor_skel = dart::dynamics::Skeleton::create(floor_name);\n\n // Give the floor a body\n dart::dynamics::BodyNodePtr body = floor_skel->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr).second;\n\n // Give the body a shape\n auto box = std::make_shared<dart::dynamics::BoxShape>(Eigen::Vector3d(floor_width, floor_width, floor_height));\n auto box_node = body->createShapeNodeWith<dart::dynamics::VisualAspect, dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(box);\n box_node->getVisualAspect()->setColor(dart::Color::Gray());\n\n // Put the body into position\n Eigen::Isometry3d new_tf = tf;\n new_tf.translate(Eigen::Vector3d(0., 0., -floor_height / 2.0));\n body->getParentJoint()->setTransformFromParentBodyNode(new_tf);\n\n auto floor_robot = std::make_shared<Robot>(floor_skel, floor_name);\n add_robot(floor_robot);\n return floor_robot;\n }\n\n std::shared_ptr<Robot> RobotDARTSimu::add_checkerboard_floor(double floor_width, double floor_height, double size, const Eigen::Isometry3d& tf, const std::string& floor_name, const Eigen::Vector4d& first_color, const Eigen::Vector4d& second_color)\n {\n ROBOT_DART_ASSERT((_world->getSkeleton(floor_name) == nullptr), \"We cannot have 2 floors with the name '\" + floor_name + \"'\", nullptr);\n ROBOT_DART_ASSERT((floor_width > 0. && floor_height > 0. && size > 0.), \"Floor dimensions should be bigger than zero!\", nullptr);\n\n // Add main floor skeleton\n dart::dynamics::SkeletonPtr main_floor_skel = dart::dynamics::Skeleton::create(floor_name + \"_main\");\n\n // Give the floor a body\n dart::dynamics::BodyNodePtr main_body = main_floor_skel->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr).second;\n\n // Give the body a shape\n auto box = std::make_shared<dart::dynamics::BoxShape>(Eigen::Vector3d(floor_width, floor_width, floor_height));\n // No visual shape for this one; only collision and dynamics\n main_body->createShapeNodeWith<dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(box);\n\n // Put the body into position\n Eigen::Isometry3d new_tf = tf;\n new_tf.translate(Eigen::Vector3d(0., 0., -floor_height / 2.0));\n main_body->getParentJoint()->setTransformFromParentBodyNode(new_tf);\n\n // Add visual bodies just for visualization\n int step = std::ceil(floor_width / size);\n int c = 0;\n for (int i = 0; i < step; i++) {\n c = i;\n for (int j = 0; j < step; j++) {\n Eigen::Vector3d init_pose;\n init_pose << -floor_width / 2. + size / 2 + i * size, -floor_width / 2. + size / 2 + j * size, 0.;\n int id = i * step + j;\n\n dart::dynamics::WeldJoint::Properties properties;\n properties.mName = \"joint_\" + std::to_string(id);\n dart::dynamics::BodyNode::Properties bd_properties;\n bd_properties.mName = \"body_\" + std::to_string(id);\n dart::dynamics::BodyNodePtr body = main_body->createChildJointAndBodyNodePair<dart::dynamics::WeldJoint>(properties, bd_properties).second;\n\n auto box = std::make_shared<dart::dynamics::BoxShape>(Eigen::Vector3d(size, size, floor_height));\n // no collision/dynamics for these ones; only visual shape\n auto box_node = body->createShapeNodeWith<dart::dynamics::VisualAspect>(box);\n if (c % 2 == 0)\n box_node->getVisualAspect()->setColor(second_color);\n else\n box_node->getVisualAspect()->setColor(first_color);\n\n // Put the body into position\n Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n tf.translation() = init_pose;\n body->getParentJoint()->setTransformFromParentBodyNode(tf);\n\n c++;\n }\n }\n\n auto floor_robot = std::make_shared<Robot>(main_floor_skel, floor_name);\n add_robot(floor_robot);\n return floor_robot;\n }\n\n void RobotDARTSimu::set_collision_detector(const std::string& collision_detector)\n {\n std::string coll = collision_detector;\n for (auto& c : coll)\n c = tolower(c);\n\n if (coll == \"dart\")\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::DARTCollisionDetector::create());\n else if (coll == \"fcl\")\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::FCLCollisionDetector::create());\n else if (coll == \"bullet\") {\n#if (HAVE_BULLET == 1)\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::BulletCollisionDetector::create());\n#else\n ROBOT_DART_WARNING(true, \"DART is not installed with Bullet! Cannot set BulletCollisionDetector!\");\n#endif\n }\n else if (coll == \"ode\") {\n#if (HAVE_ODE == 1)\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::OdeCollisionDetector::create());\n#else\n ROBOT_DART_WARNING(true, \"DART is not installed with ODE! Cannot set OdeCollisionDetector!\");\n#endif\n }\n }\n\n const std::string& RobotDARTSimu::collision_detector() const { return _world->getConstraintSolver()->getCollisionDetector()->getType(); }\n\n void RobotDARTSimu::set_collision_masks(size_t robot_index, uint32_t category_mask, uint32_t collision_mask)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n coll_filter->add_to_map(_robots[robot_index]->skeleton(), collision_mask, category_mask);\n }\n\n void RobotDARTSimu::set_collision_masks(size_t robot_index, const std::string& body_name, uint32_t category_mask, uint32_t collision_mask)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, collision_mask, category_mask](dart::dynamics::ShapeNode* shape) { coll_filter->add_to_map(shape, collision_mask, category_mask); });\n#else\n for (auto& shape : bd->getShapeNodes())\n coll_filter->add_to_map(shape, collision_mask, category_mask);\n#endif\n }\n\n void RobotDARTSimu::set_collision_masks(size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, collision_mask, category_mask](dart::dynamics::ShapeNode* shape) { coll_filter->add_to_map(shape, collision_mask, category_mask); });\n#else\n for (auto& shape : bd->getShapeNodes())\n coll_filter->add_to_map(shape, collision_mask, category_mask);\n#endif\n }\n\n uint32_t RobotDARTSimu::collision_mask(size_t robot_index, const std::string& body_name)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0xffffffff);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) { mask &= coll_filter->mask(shape).collision_mask; });\n#else\n for (auto& shape : bd->getShapeNodes())\n mask &= coll_filter->mask(shape).collision_mask;\n#endif\n\n return mask;\n }\n\n uint32_t RobotDARTSimu::collision_mask(size_t robot_index, size_t body_index)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", 0xffffffff);\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) { mask &= coll_filter->mask(shape).collision_mask; });\n#else\n for (auto& shape : bd->getShapeNodes())\n mask &= coll_filter->mask(shape).collision_mask;\n#endif\n\n return mask;\n }\n\n uint32_t RobotDARTSimu::collision_category(size_t robot_index, const std::string& body_name)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0xffffffff);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) { mask &= coll_filter->mask(shape).category_mask; });\n#else\n for (auto& shape : bd->getShapeNodes())\n mask &= coll_filter->mask(shape).category_mask;\n#endif\n\n return mask;\n }\n\n uint32_t RobotDARTSimu::collision_category(size_t robot_index, size_t body_index)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", 0xffffffff);\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) { mask &= coll_filter->mask(shape).category_mask; });\n#else\n for (auto& shape : bd->getShapeNodes())\n mask &= coll_filter->mask(shape).category_mask;\n#endif\n\n return mask;\n }\n\n std::pair<uint32_t, uint32_t> RobotDARTSimu::collision_masks(size_t robot_index, const std::string& body_name)\n {\n std::pair<uint32_t, uint32_t> mask = {0xffffffff, 0xffffffff};\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", mask);\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", mask);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) {\n mask.first &= coll_filter->mask(shape).collision_mask;\n mask.second &= coll_filter->mask(shape).category_mask;\n });\n#else\n for (auto& shape : bd->getShapeNodes()) {\n mask.first &= coll_filter->mask(shape).collision_mask;\n mask.second &= coll_filter->mask(shape).category_mask;\n }\n#endif\n\n return mask;\n }\n\n std::pair<uint32_t, uint32_t> RobotDARTSimu::collision_masks(size_t robot_index, size_t body_index)\n {\n std::pair<uint32_t, uint32_t> mask = {0xffffffff, 0xffffffff};\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", mask);\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", mask);\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) {\n mask.first &= coll_filter->mask(shape).collision_mask;\n mask.second &= coll_filter->mask(shape).category_mask;\n });\n#else\n for (auto& shape : bd->getShapeNodes()) {\n mask.first &= coll_filter->mask(shape).collision_mask;\n mask.second &= coll_filter->mask(shape).category_mask;\n }\n#endif\n\n return mask;\n }\n\n void RobotDARTSimu::remove_collision_masks(size_t robot_index)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n coll_filter->remove_from_map(_robots[robot_index]->skeleton());\n }\n\n void RobotDARTSimu::remove_collision_masks(size_t robot_index, const std::string& body_name)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter](dart::dynamics::ShapeNode* shape) { coll_filter->remove_from_map(shape); });\n#else\n for (auto& shape : bd->getShapeNodes())\n coll_filter->remove_from_map(shape);\n#endif\n }\n\n void RobotDARTSimu::remove_collision_masks(size_t robot_index, size_t body_index)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter](dart::dynamics::ShapeNode* shape) { coll_filter->remove_from_map(shape); });\n#else\n for (auto& shape : bd->getShapeNodes())\n coll_filter->remove_from_map(shape);\n#endif\n }\n\n void RobotDARTSimu::remove_all_collision_masks()\n {\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n coll_filter->clear_all();\n }\n} // namespace robot_dart\nFileList > robot_dart > robot_dart_simu.hpp
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#include <robot_dart/gui/base.hpp>#include <robot_dart/robot.hpp>#include <robot_dart/scheduler.hpp>#include <robot_dart/sensor/sensor.hpp>The documentation for this class was generated from the following file robot_dart/robot_dart_simu.hpp
File List > robot_dart > robot_dart_simu.hpp
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#ifndef ROBOT_DART_SIMU_HPP\n#define ROBOT_DART_SIMU_HPP\n\n#include <robot_dart/gui/base.hpp>\n#include <robot_dart/robot.hpp>\n#include <robot_dart/scheduler.hpp>\n#include <robot_dart/sensor/sensor.hpp>\n\nnamespace robot_dart {\n namespace simu {\n struct GUIData;\n\n // We use the Abode Source Sans Pro font: https://github.com/adobe-fonts/source-sans-pro\n // This font is licensed under SIL Open Font License 1.1: https://github.com/adobe-fonts/source-sans-pro/blob/release/LICENSE.md\n struct TextData {\n std::string text;\n Eigen::Affine2d transformation;\n Eigen::Vector4d color;\n std::uint8_t alignment;\n bool draw_background;\n Eigen::Vector4d background_color;\n double font_size = 28.;\n };\n } // namespace simu\n\n class RobotDARTSimu {\n public:\n using robot_t = std::shared_ptr<Robot>;\n\n RobotDARTSimu(double timestep = 0.015);\n\n ~RobotDARTSimu();\n\n void run(double max_duration = 5.0, bool reset_commands = false, bool force_position_bounds = true);\n bool step_world(bool reset_commands = false, bool force_position_bounds = true);\n bool step(bool reset_commands = false, bool force_position_bounds = true);\n\n Scheduler& scheduler() { return _scheduler; }\n const Scheduler& scheduler() const { return _scheduler; }\n bool schedule(int freq) { return _scheduler(freq); }\n\n int physics_freq() const { return _physics_freq; }\n int control_freq() const { return _control_freq; }\n\n void set_control_freq(int frequency)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n frequency <= _physics_freq && \"Control frequency needs to be less than physics frequency\");\n _control_freq = frequency;\n }\n\n int graphics_freq() const { return _graphics_freq; }\n\n void set_graphics_freq(int frequency)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n frequency <= _physics_freq && \"Graphics frequency needs to be less than physics frequency\");\n _graphics_freq = frequency;\n _graphics->set_fps(_graphics_freq);\n }\n\n std::shared_ptr<gui::Base> graphics() const;\n void set_graphics(const std::shared_ptr<gui::Base>& graphics);\n\n dart::simulation::WorldPtr world();\n\n template <typename T, typename... Args>\n std::shared_ptr<T> add_sensor(Args&&... args)\n {\n add_sensor(std::make_shared<T>(std::forward<Args>(args)...));\n return std::static_pointer_cast<T>(_sensors.back());\n }\n\n void add_sensor(const std::shared_ptr<sensor::Sensor>& sensor);\n std::vector<std::shared_ptr<sensor::Sensor>> sensors() const;\n std::shared_ptr<sensor::Sensor> sensor(size_t index) const;\n\n void remove_sensor(const std::shared_ptr<sensor::Sensor>& sensor);\n void remove_sensor(size_t index);\n void remove_sensors(const std::string& type);\n void clear_sensors();\n\n double timestep() const;\n void set_timestep(double timestep, bool update_control_freq = true);\n\n Eigen::Vector3d gravity() const;\n void set_gravity(const Eigen::Vector3d& gravity);\n\n void stop_sim(bool disable = true);\n bool halted_sim() const;\n\n size_t num_robots() const;\n const std::vector<robot_t>& robots() const;\n robot_t robot(size_t index) const;\n int robot_index(const robot_t& robot) const;\n\n void add_robot(const robot_t& robot);\n void add_visual_robot(const robot_t& robot);\n void remove_robot(const robot_t& robot);\n void remove_robot(size_t index);\n void clear_robots();\n\n simu::GUIData* gui_data();\n\n void enable_text_panel(bool enable = true, double font_size = -1);\n std::string text_panel_text() const;\n void set_text_panel(const std::string& str);\n\n void enable_status_bar(bool enable = true, double font_size = -1);\n std::string status_bar_text() const;\n\n std::shared_ptr<simu::TextData> add_text(const std::string& text, const Eigen::Affine2d& tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = 2 << 2, bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28);\n\n std::shared_ptr<Robot> add_floor(double floor_width = 10.0, double floor_height = 0.1, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity(), const std::string& floor_name = \"floor\");\n std::shared_ptr<Robot> add_checkerboard_floor(double floor_width = 10.0, double floor_height = 0.1, double size = 1., const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity(), const std::string& floor_name = \"checkerboard_floor\", const Eigen::Vector4d& first_color = dart::Color::White(1.), const Eigen::Vector4d& second_color = dart::Color::Gray(1.));\n\n void set_collision_detector(const std::string& collision_detector); // collision_detector can be \"DART\", \"FCL\", \"Ode\" or \"Bullet\" (case does not matter)\n const std::string& collision_detector() const;\n\n // Bitmask collision filtering\n void set_collision_masks(size_t robot_index, uint32_t category_mask, uint32_t collision_mask);\n void set_collision_masks(size_t robot_index, const std::string& body_name, uint32_t category_mask, uint32_t collision_mask);\n void set_collision_masks(size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask);\n\n uint32_t collision_mask(size_t robot_index, const std::string& body_name);\n uint32_t collision_mask(size_t robot_index, size_t body_index);\n\n uint32_t collision_category(size_t robot_index, const std::string& body_name);\n uint32_t collision_category(size_t robot_index, size_t body_index);\n\n std::pair<uint32_t, uint32_t> collision_masks(size_t robot_index, const std::string& body_name);\n std::pair<uint32_t, uint32_t> collision_masks(size_t robot_index, size_t body_index);\n\n void remove_collision_masks(size_t robot_index);\n void remove_collision_masks(size_t robot_index, const std::string& body_name);\n void remove_collision_masks(size_t robot_index, size_t body_index);\n\n void remove_all_collision_masks();\n\n protected:\n void _enable(std::shared_ptr<simu::TextData>& text, bool enable, double font_size);\n\n dart::simulation::WorldPtr _world;\n size_t _old_index;\n bool _break;\n\n std::vector<std::shared_ptr<sensor::Sensor>> _sensors;\n std::vector<robot_t> _robots;\n std::shared_ptr<gui::Base> _graphics;\n std::unique_ptr<simu::GUIData> _gui_data;\n std::shared_ptr<simu::TextData> _text_panel = nullptr;\n std::shared_ptr<simu::TextData> _status_bar = nullptr;\n\n Scheduler _scheduler;\n int _physics_freq = -1, _control_freq = -1, _graphics_freq = 40;\n };\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > robot_pool.cpp
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#include <robot_dart/robot_pool.hpp>The documentation for this class was generated from the following file robot_dart/robot_pool.cpp
File List > robot_dart > robot_pool.cpp
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#include <robot_dart/robot_pool.hpp>\n\nnamespace robot_dart {\n RobotPool::RobotPool(const std::function<std::shared_ptr<Robot>()>& robot_creator, size_t pool_size, bool verbose) : _robot_creator(robot_creator), _pool_size(pool_size), _verbose(verbose)\n {\n if (_verbose) {\n std::cout << \"Creating a pool of \" << pool_size << \" robots: \";\n std::cout.flush();\n }\n\n for (size_t i = 0; i < _pool_size; ++i) {\n if (_verbose) {\n std::cout << \"[\" << i << \"]\";\n std::cout.flush();\n }\n auto robot = robot_creator();\n _model_filename = robot->model_filename();\n _reset_robot(robot);\n _skeletons.push_back(robot->skeleton());\n }\n for (size_t i = 0; i < _pool_size; i++)\n _free.push_back(true);\n\n if (_verbose)\n std::cout << std::endl;\n }\n\n std::shared_ptr<Robot> RobotPool::get_robot(const std::string& name)\n {\n while (true) {\n std::lock_guard<std::mutex> lock(_skeleton_mutex);\n for (size_t i = 0; i < _pool_size; i++)\n if (_free[i]) {\n _free[i] = false;\n return std::make_shared<Robot>(_skeletons[i], name);\n }\n }\n }\n\n void RobotPool::free_robot(const std::shared_ptr<Robot>& robot)\n {\n std::lock_guard<std::mutex> lock(_skeleton_mutex);\n for (size_t i = 0; i < _pool_size; i++) {\n if (_skeletons[i] == robot->skeleton()) {\n _reset_robot(robot);\n _free[i] = true;\n break;\n }\n }\n }\n\n void RobotPool::_reset_robot(const std::shared_ptr<Robot>& robot)\n {\n robot->reset();\n }\n} // namespace robot_dart\nFileList > robot_dart > robot_pool.hpp
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#include <functional>#include <memory>#include <mutex>#include <vector>#include <robot_dart/robot.hpp>The documentation for this class was generated from the following file robot_dart/robot_pool.hpp
File List > robot_dart > robot_pool.hpp
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#ifndef ROBOT_DART_ROBOT_POOL\n#define ROBOT_DART_ROBOT_POOL\n\n#include <functional>\n#include <memory>\n#include <mutex>\n#include <vector>\n\n#include <robot_dart/robot.hpp>\n\nnamespace robot_dart {\n class RobotPool {\n public:\n using robot_creator_t = std::function<std::shared_ptr<Robot>()>;\n\n RobotPool(const robot_creator_t& robot_creator, size_t pool_size = 32, bool verbose = true);\n virtual ~RobotPool() {}\n\n RobotPool(const RobotPool&) = delete;\n void operator=(const RobotPool&) = delete;\n\n virtual std::shared_ptr<Robot> get_robot(const std::string& name = \"robot\");\n virtual void free_robot(const std::shared_ptr<Robot>& robot);\n\n const std::string& model_filename() const { return _model_filename; }\n\n protected:\n robot_creator_t _robot_creator;\n size_t _pool_size;\n bool _verbose;\n std::vector<dart::dynamics::SkeletonPtr> _skeletons;\n std::vector<bool> _free;\n std::mutex _skeleton_mutex;\n std::string _model_filename;\n\n virtual void _reset_robot(const std::shared_ptr<Robot>& robot);\n };\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > scheduler.cpp
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#include <robot_dart/scheduler.hpp>The documentation for this class was generated from the following file robot_dart/scheduler.cpp
File List > robot_dart > scheduler.cpp
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#include <robot_dart/scheduler.hpp>\n\nnamespace robot_dart {\n bool Scheduler::schedule(int frequency)\n {\n if (_max_frequency == -1) {\n _start_time = clock_t::now();\n _last_iteration_time = _start_time;\n }\n\n _max_frequency = std::max(_max_frequency, frequency);\n double period = std::round((1. / frequency) / _dt);\n\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n period >= 1. && \"Time-step is too big for required frequency.\");\n\n if (_current_step % int(period) == 0)\n return true;\n\n return false;\n }\n\n void Scheduler::reset(double dt, bool sync, double current_time, double real_time)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(dt > 0. && \"Time-step needs to be bigger than zero.\");\n\n _current_time = 0.;\n _real_time = 0.;\n _simu_start_time = current_time;\n _real_start_time = real_time;\n _current_step = 0;\n _max_frequency = -1;\n _average_it_duration = 0.;\n\n _dt = dt;\n _sync = sync;\n }\n\n double Scheduler::step()\n {\n _current_time += _dt;\n _current_step += 1;\n\n auto end = clock_t::now();\n _it_duration = std::chrono::duration<double, std::micro>(end - _last_iteration_time).count();\n _last_iteration_time = end;\n _average_it_duration = _average_it_duration + (_it_duration - _average_it_duration) / _current_step;\n std::chrono::duration<double, std::micro> real = end - _start_time;\n if (_sync) {\n auto expected = std::chrono::microseconds(int(_current_time * 1e6));\n std::chrono::duration<double, std::micro> adjust = expected - real;\n if (adjust.count() > 0)\n std::this_thread::sleep_for(adjust);\n }\n\n _real_time = real.count() * 1e-6;\n return _real_start_time + _real_time;\n }\n\n} // namespace robot_dart\nFileList > robot_dart > scheduler.hpp
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#include <robot_dart/utils.hpp>#include <chrono>#include <thread>The documentation for this class was generated from the following file robot_dart/scheduler.hpp
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#ifndef ROBOT_DART_SCHEDULER_HPP\n#define ROBOT_DART_SCHEDULER_HPP\n\n#include <robot_dart/utils.hpp>\n\n#include <chrono>\n#include <thread>\n\nnamespace robot_dart {\n class Scheduler {\n protected:\n using clock_t = std::chrono::high_resolution_clock;\n\n public:\n Scheduler(double dt, bool sync = false) : _dt(dt), _sync(sync)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_dt > 0. && \"Time-step needs to be bigger than zero.\");\n }\n\n bool operator()(int frequency) { return schedule(frequency); };\n bool schedule(int frequency);\n\n double step();\n\n void reset(double dt, bool sync = false, double current_time = 0., double real_time = 0.);\n\n void set_sync(bool enable) { _sync = enable; }\n bool sync() const { return _sync; }\n\n double current_time() const { return _simu_start_time + _current_time; }\n double next_time() const { return _simu_start_time + _current_time + _dt; }\n double real_time() const { return _real_start_time + _real_time; }\n double dt() const { return _dt; }\n // 0.8x => we are simulating at 80% of real time\n double real_time_factor() const { return _dt / it_duration(); }\n // time for a single iteration (wall-clock)\n double it_duration() const { return _average_it_duration * 1e-6; }\n // time of the last iteration (wall-clock)\n double last_it_duration() const { return _it_duration * 1e-6; }\n\n protected:\n double _current_time = 0., _simu_start_time = 0., _real_time = 0., _real_start_time = 0., _it_duration = 0.;\n double _average_it_duration = 0.;\n double _dt;\n int _current_step = 0;\n bool _sync;\n int _max_frequency = -1;\n clock_t::time_point _start_time;\n clock_t::time_point _last_iteration_time;\n };\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > utils.hpp
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#include <exception>#include <iostream>#include <robot_dart/utils_headers_external.hpp>#define M_PIf static_cast<float>(M_PI)\n#define ROBOT_DART_ASSERT (\n condition,\n message,\n returnValue\n) do { \\\n if (!(condition)) { \\\n std::cerr << __LINE__ << \" \" << __FILE__ << \" -> robot_dart assertion failed: \" << message << std::endl; \\\n return returnValue; \\\n } \\\n } while (false)\n#define ROBOT_DART_EXCEPTION_ASSERT (\n condition,\n message\n) do { \\\n if (!(condition)) { \\\n throw robot_dart::Assertion (message); \\\n } \\\n } while (false)\n#define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT (\n condition\n) do { \\\n if (!(condition)) { \\\n throw robot_dart::Assertion (#condition); \\\n } \\\n } while (false)\n#define ROBOT_DART_INTERNAL_ASSERT (\n condition\n) do { \\\n if (!(condition)) { \\\n std::cerr << \"Assertion '\" << #condition << \"' failed in '\" << __FILE__ << \"' on line \" << __LINE__ << std::endl; \\\n std::abort(); \\\n } \\\n } while (false)\n#define ROBOT_DART_SHOW_WARNINGS true\n#define ROBOT_DART_UNUSED_VARIABLE (\n var\n) (void)(var)\n#define ROBOT_DART_WARNING (\n condition,\n message\n) if (ROBOT_DART_SHOW_WARNINGS && (condition)) { \\\n std::cerr << \"[robot_dart WARNING]: \\\"\" << message << \"\\\"\" << std::endl; \\\n }\nThe documentation for this class was generated from the following file robot_dart/utils.hpp
File List > robot_dart > utils.hpp
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#ifndef ROBOT_DART_UTILS_HPP\n#define ROBOT_DART_UTILS_HPP\n\n#include <exception>\n#include <iostream>\n\n#include <robot_dart/utils_headers_external.hpp>\n\n#ifndef ROBOT_DART_SHOW_WARNINGS\n#define ROBOT_DART_SHOW_WARNINGS true\n#endif\n\n#ifndef M_PIf\n#define M_PIf static_cast<float>(M_PI)\n#endif\n\nnamespace robot_dart {\n\n inline Eigen::VectorXd make_vector(std::initializer_list<double> args)\n {\n return Eigen::VectorXd::Map(args.begin(), args.size());\n }\n\n inline Eigen::Isometry3d make_tf(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)\n {\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n tf.linear().matrix() = R;\n tf.translation() = t;\n\n return tf;\n }\n\n inline Eigen::Isometry3d make_tf(const Eigen::Matrix3d& R)\n {\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n tf.linear().matrix() = R;\n\n return tf;\n }\n\n inline Eigen::Isometry3d make_tf(const Eigen::Vector3d& t)\n {\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n tf.translation() = t;\n\n return tf;\n }\n\n inline Eigen::Isometry3d make_tf(std::initializer_list<double> args)\n {\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n tf.translation() = make_vector(args);\n\n return tf;\n }\n\n class Assertion : public std::exception {\n public:\n Assertion(const std::string& msg = \"\") : _msg(_make_message(msg)) {}\n\n const char* what() const throw()\n {\n return _msg.c_str();\n }\n\n private:\n std::string _msg;\n\n std::string _make_message(const std::string& msg) const\n {\n std::string message = \"robot_dart assertion failed\";\n if (msg != \"\")\n message += \": '\" + msg + \"'\";\n return message;\n }\n };\n} // namespace robot_dart\n\n#define ROBOT_DART_UNUSED_VARIABLE(var) (void)(var)\n\n#define ROBOT_DART_WARNING(condition, message) \\\n if (ROBOT_DART_SHOW_WARNINGS && (condition)) { \\\n std::cerr << \"[robot_dart WARNING]: \\\"\" << message << \"\\\"\" << std::endl; \\\n }\n\n#define ROBOT_DART_ASSERT(condition, message, returnValue) \\\n do { \\\n if (!(condition)) { \\\n std::cerr << __LINE__ << \" \" << __FILE__ << \" -> robot_dart assertion failed: \" << message << std::endl; \\\n return returnValue; \\\n } \\\n } while (false)\n\n#define ROBOT_DART_EXCEPTION_ASSERT(condition, message) \\\n do { \\\n if (!(condition)) { \\\n throw robot_dart::Assertion(message); \\\n } \\\n } while (false)\n\n#define ROBOT_DART_INTERNAL_ASSERT(condition) \\\n do { \\\n if (!(condition)) { \\\n std::cerr << \"Assertion '\" << #condition << \"' failed in '\" << __FILE__ << \"' on line \" << __LINE__ << std::endl; \\\n std::abort(); \\\n } \\\n } while (false)\n\n#define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(condition) \\\n do { \\\n if (!(condition)) { \\\n throw robot_dart::Assertion(#condition); \\\n } \\\n } while (false)\n\n#endif\nFileList > robot_dart > utils_headers_dart_collision.hpp
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#include <dart/config.hpp>#include <dart/collision/CollisionFilter.hpp>#include <dart/collision/CollisionObject.hpp>#include <dart/collision/dart/DARTCollisionDetector.hpp>#include <dart/collision/fcl/FCLCollisionDetector.hpp>#include <dart/constraint/ConstraintSolver.hpp>The documentation for this class was generated from the following file robot_dart/utils_headers_dart_collision.hpp
File List > robot_dart > utils_headers_dart_collision.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_DART_COLLISION_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_COLLISION_HPP\n\n#pragma GCC system_header\n\n#include <dart/config.hpp>\n\n#include <dart/collision/CollisionFilter.hpp>\n#include <dart/collision/CollisionObject.hpp>\n#include <dart/collision/dart/DARTCollisionDetector.hpp>\n#include <dart/collision/fcl/FCLCollisionDetector.hpp>\n#include <dart/constraint/ConstraintSolver.hpp>\n\n#if (HAVE_BULLET == 1)\n#include <dart/collision/bullet/BulletCollisionDetector.hpp>\n#endif\n\n#if (HAVE_ODE == 1)\n#include <dart/collision/ode/OdeCollisionDetector.hpp>\n#endif\n\n#endif\nFileList > robot_dart > utils_headers_dart_dynamics.hpp
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#include <dart/dynamics/BallJoint.hpp>#include <dart/dynamics/BodyNode.hpp>#include <dart/dynamics/BoxShape.hpp>#include <dart/dynamics/DegreeOfFreedom.hpp>#include <dart/dynamics/EllipsoidShape.hpp>#include <dart/dynamics/EulerJoint.hpp>#include <dart/dynamics/FreeJoint.hpp>#include <dart/dynamics/MeshShape.hpp>#include <dart/dynamics/RevoluteJoint.hpp>#include <dart/dynamics/ShapeNode.hpp>#include <dart/dynamics/SoftBodyNode.hpp>#include <dart/dynamics/SoftMeshShape.hpp>#include <dart/dynamics/WeldJoint.hpp>The documentation for this class was generated from the following file robot_dart/utils_headers_dart_dynamics.hpp
File List > robot_dart > utils_headers_dart_dynamics.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_DART_DYNAMICS_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_DYNAMICS_HPP\n\n#pragma GCC system_header\n\n#include <dart/dynamics/BallJoint.hpp>\n#include <dart/dynamics/BodyNode.hpp>\n#include <dart/dynamics/BoxShape.hpp>\n#include <dart/dynamics/DegreeOfFreedom.hpp>\n#include <dart/dynamics/EllipsoidShape.hpp>\n#include <dart/dynamics/EulerJoint.hpp>\n#include <dart/dynamics/FreeJoint.hpp>\n#include <dart/dynamics/MeshShape.hpp>\n#include <dart/dynamics/RevoluteJoint.hpp>\n#include <dart/dynamics/ShapeNode.hpp>\n#include <dart/dynamics/SoftBodyNode.hpp>\n#include <dart/dynamics/SoftMeshShape.hpp>\n#include <dart/dynamics/WeldJoint.hpp>\n\n#endif\nFileList > robot_dart > utils_headers_dart_io.hpp
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#include <dart/config.hpp>#include <dart/utils/SkelParser.hpp>#include <dart/utils/sdf/SdfParser.hpp>#include <dart/utils/urdf/urdf.hpp>The documentation for this class was generated from the following file robot_dart/utils_headers_dart_io.hpp
File List > robot_dart > utils_headers_dart_io.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_DART_IO_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_IO_HPP\n\n#pragma GCC system_header\n\n#include <dart/config.hpp>\n\n#if DART_VERSION_AT_LEAST(7, 0, 0)\n#include <dart/io/SkelParser.hpp>\n#include <dart/io/sdf/SdfParser.hpp>\n#include <dart/io/urdf/urdf.hpp>\n#else\n#include <dart/utils/SkelParser.hpp>\n#include <dart/utils/sdf/SdfParser.hpp>\n#include <dart/utils/urdf/urdf.hpp>\n\n// namespace alias for compatibility\nnamespace dart {\n namespace io = utils;\n}\n#endif\n\n#endif\nFileList > robot_dart > utils_headers_external.hpp
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#include <Eigen/Core>#include <Eigen/Geometry>#include <dart/config.hpp>#include <dart/dynamics/MeshShape.hpp>#include <dart/dynamics/Skeleton.hpp>#include <dart/simulation/World.hpp>The documentation for this class was generated from the following file robot_dart/utils_headers_external.hpp
File List > robot_dart > utils_headers_external.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_EXTERNAL_HPP\n#define ROBOT_DART_UTILS_HEADERS_EXTERNAL_HPP\n\n#pragma GCC system_header\n\n#include <Eigen/Core>\n#include <Eigen/Geometry>\n\n#include <dart/config.hpp>\n#include <dart/dynamics/MeshShape.hpp>\n#include <dart/dynamics/Skeleton.hpp>\n#include <dart/simulation/World.hpp>\n\n#endif\nFileList > robot_dart > utils_headers_external_gui.hpp
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#include <robot_dart/utils_headers_external.hpp>#include <Magnum/DartIntegration/World.h>The documentation for this class was generated from the following file robot_dart/utils_headers_external_gui.hpp
File List > robot_dart > utils_headers_external_gui.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_EXTERNAL_GUI_HPP\n#define ROBOT_DART_UTILS_HEADERS_EXTERNAL_GUI_HPP\n\n#pragma GCC system_header\n\n#include <robot_dart/utils_headers_external.hpp>\n\n#include <Magnum/DartIntegration/World.h>\n\n#endif\nHere is a list of all namespaces with brief descriptions:
This inheritance list is sorted roughly, but not completely, alphabetically:
No modules found.
"},{"location":"api/pages/","title":"Related Pages","text":"Here is a list of all related documentation pages:
"},{"location":"api/class_members/","title":"Class Members","text":""},{"location":"api/class_members/#a","title":"a","text":"RobotDART is a C++ robot simulator (with optional Python bindings) built on top of the DART physics engine. The RobotDART simulator is intended to be used by Robotics and Machine Learning researchers who want to write controllers or test learning algorithms without the delays and overhead that usually comes with other simulators (e.g., Gazebo, Coppelia-sim).
For this reason, the simulator runs headless by default, and there is the possibility of rendering the scene (e.g., through a camera sensor) without opening a graphics window. All RobotDART's code is thread-safe (including graphics and camera sensors), and thus enables its users to use their code in parallel jobs in multicore computers.
In a few words, RobotDART combines:
"},{"location":"#main-features","title":"Main Features","text":"
Robot class that enables a unified creation and access to all important values: in RobotDART you can load any robot description file (URDF, SDF, SKEL, and MuJoCo files) with the same command, and all robot measurements can be queried without using any DART codeRobotControl class that enables fast prototyping of any type of controllerSensor class that allows the creation of any kind of sensorForceTorque, IMU, RGB, and RGB-D sensorsRobotDARTSimu) that handles multiple robots and sensors, and allows for step-by-step simulationThis pages provides a user guide of the library through Frequently Asked Questions (FAQ).
"},{"location":"faq/#what-is-a-minimal-working-example-of-robotdart","title":"What is a minimal working example of RobotDART?","text":"You can find a minimal working example at hello_world.cpp. This example is creating a world where a hexapod robot is placed just above a floor and left to fall. The robot has no actuation, and there is the simplest graphics configuration. Let's split it down.
#include <robot_dart/robot_dart_simu.hpp>\n\n#ifdef GRAPHIC\n#include <robot_dart/gui/magnum/graphics.hpp>\n#endif\nimport RobotDART as rd\nauto robot = std::make_shared<robot_dart::Robot>(\"pexod.urdf\");\nrobot = rd.Robot(\"pexod.urdf\");\nrobot->set_base_pose(robot_dart::make_tf({0., 0., 0.2}));\n# pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation)\nrobot.set_base_pose([0., 0., 0., 0., 0., 0.2])\nrobot_dart::RobotDARTSimu simu(0.001); // dt=0.001, 1KHz simulation\nsimu.add_floor();\nsimu.add_robot(robot);\nsimu = rd.RobotDARTSimu(0.001); # dt=0.001, 1KHz simulation\nsimu.add_floor();\nsimu.add_robot(robot);\nauto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();\nsimu.set_graphics(graphics);\ngraphics->look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});\ngraphics = rd.gui.Graphics()\nsimu.set_graphics(graphics)\ngraphics.look_at([0.5, 3., 0.75], [0.5, 0., 0.2])\nsimu.run(10.);\nsimu.run(10.)\n"},{"location":"faq/#what-robots-are-supported-in-robotdart","title":"What robots are supported in RobotDART?","text":"
RobotDART supports any robot that can be described by a URDF, SDF, SKEL or MJCF file. Nevertheless, we have a curated list of robots with edited and optimized models to be used with RobotDART (see the robots page for details and examples).
"},{"location":"faq/#how-can-i-load-my-own-urdfsdfskelmjcf-file","title":"How can I load my own URDF/SDF/SKEL/MJCF file?","text":"See the robots page for details.
"},{"location":"faq/#how-do-i-enable-graphics-in-my-code","title":"How do I enable graphics in my code?","text":"To enable graphics in your code, you need to do the following:
auto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>();\nsimu.set_graphics(graphics);\ngraphics->look_at({0.5, 3., 0.75}, {0.5, 0., 0.2});\ngraphics = rd.gui.Graphics()\nsimu.set_graphics(graphics)\ngraphics.look_at([0.5, 3., 0.75], [0.5, 0., 0.2])\nHaving multiple camera sensors is indeed possible. We can add as many cameras as we wish along the main camera defined in How do I record a video:
C++Python// Add camera\nauto camera = std::make_shared<robot_dart::sensor::Camera>(graphics->magnum_app(), 256, 256);\n# Add camera\ncamera = rd.sensor.Camera(graphics.magnum_app(), 32, 32)\nIn order to record a video (1) of what the main or any other camera \"sees\", you need to call the function record_video(path) of the graphics class:
ffmpeg installed on your system.graphics->record_video(\"talos_dancing.mp4\");\ngraphics.record_video(\"talos_dancing.mp4\")\nOr the camera class:
C++Python// cameras can also record video\ncamera->record_video(\"video-camera.mp4\");\n# cameras can also record video\ncamera.record_video(\"video-camera.mp4\")\nIn order to position a camera inside the world, we need to use the lookAt method of the camera/graphics object:
// set the position of the camera, and the position where the main camera is looking at\nEigen::Vector3d cam_pos = {-0.5, -3., 0.75};\nEigen::Vector3d cam_looks_at = {0.5, 0., 0.2};\ncamera->look_at(cam_pos, cam_looks_at);\n# set the position of the camera, and the position where the main camera is looking at\ncam_pos = [-0.5, -3., 0.75]\ncam_looks_at = [0.5, 0., 0.2]\ncamera.look_at(cam_pos, cam_looks_at)\nCameras can be easily attached to a moving link:
C++PythonEigen::Isometry3d tf;\ntf = Eigen::AngleAxisd(3.14, Eigen::Vector3d{1., 0., 0.});\ntf *= Eigen::AngleAxisd(1.57, Eigen::Vector3d{0., 0., 1.});\ntf.translation() = Eigen::Vector3d(0., 0., 0.1);\ncamera->attach_to_body(robot->body_node(\"iiwa_link_ee\"), tf); // cameras are looking towards -z by default\ntf = dartpy.math.Isometry3()\nrot = dartpy.math.AngleAxis(3.14, [1., 0., 0.])\nrot = rot.multiply(dartpy.math.AngleAxis(1.57, [0., 0., 1.])).to_rotation_matrix()\ntf.set_translation([0., 0., 0.1])\ntf.set_rotation(rot)\ncamera.attach_to_body(robot.body_node(\"iiwa_link_ee\"), tf) # cameras are looking towards -z by default\nEvery camera has its own parameters, i.e a Near plane, a far plane, a Field Of View (FOV), a width and a height (that define the aspect ratio), you can manipulate each one separately:
C++Pythoncamera->camera().set_far_plane(5.f);\ncamera->camera().set_near_plane(0.01f);\ncamera->camera().set_fov(60.0f);\ncamera.camera().set_far_plane(5.)\ncamera.camera().set_near_plane(0.01)\ncamera.camera().set_fov(60.0)\nor all at once:
C++Pythoncamera->camera().set_camera_params(5., // far plane\n 0.01f, // near plane\n 60.0f, // field of view\n 600, // width\n 400 // height\n);\ncamera.camera().set_camera_params(5., # far plane\n 0.01, # near plane\n 60.0, # field of view\n 600, # width\n 400) # height\nYou can find a complete example at cameras.cpp and cameras.py.
"},{"location":"faq/#how-can-i-interact-with-the-camera","title":"How can I interact with the camera?","text":"We can move translate the cameras with the WASD keys, zoom in and out using the mouse wheel and rotate the camera with holding the left mouse key and moving the mouse.
The status bar looks like this:
Where simulation time gives us the total simulated time (in seconds), wall time gives us the total time (in seconds) that has passed in real-time once we have started simulating. The next number X.Xx gives us the real-time factor: for example, 1.1x means that the simulation runs 1.1 times faster than real-time, whereas 0.7x means that the simulation runs slower than real-time. The value it: XX ms reports the time it took the last iteration (in milliseconds). The last part gives us whether the simulation tries to adhere to real-time or not. sync means that RobotDART will slow down the simulation in order for it to be in real-time, whereas no-sync means that RobotDART will try to run the simulation as fast as possible.
"},{"location":"faq/#how-can-i-alter-the-graphics-scene-eg-change-lighting-conditions","title":"How can I alter the graphics scene (e.g., change lighting conditions)?","text":"When creating a graphics object, you can pass a GraphicsConfiguration object that changes the default values:
robot_dart::gui::magnum::GraphicsConfiguration configuration;\n// We can change the width/height of the window (or camera image dimensions)\nconfiguration.width = 1280;\nconfiguration.height = 960;\nconfiguration.title = \"Graphics Tutorial\"; // We can set a title for our window\n\n// We can change the configuration for shadows\nconfiguration.shadowed = true;\nconfiguration.transparent_shadows = true;\nconfiguration.shadow_map_size = 1024;\n\n// We can also alter some specifications for the lighting\nconfiguration.max_lights = 3; // maximum number of lights for our scene [default=3]\nconfiguration.specular_strength = 0.25; // strength of the specular component\n\n// Some extra configuration for the main camera\nconfiguration.draw_main_camera = true;\nconfiguration.draw_debug = true;\nconfiguration.draw_text = true;\n\n// We can also change the background color [default=black]\nconfiguration.bg_color = Eigen::Vector4d{1.0, 1.0, 1.0, 1.0};\n\n// Create the graphics object with the configuration as parameter\nauto graphics = std::make_shared<robot_dart::gui::magnum::Graphics>(configuration);\nconfiguration = rd.gui.GraphicsConfiguration()\n# We can change the width/height of the window (or camera, dimensions)\nconfiguration.width = 1280\nconfiguration.height = 960\nconfiguration.title = \"Graphics Tutorial\" # We can set a title for our window\n\n# We can change the configuration for shadows\nconfiguration.shadowed = True\nconfiguration.transparent_shadows = True\nconfiguration.shadow_map_size = 1024\n\n# We can also alter some specifications for the lighting\nconfiguration.max_lights = 3 # maximum number of lights for our scene\nconfiguration.specular_strength = 0.25 # strength og the specular component\n\n# Some extra configuration for the main camera\nconfiguration.draw_main_camera = True\nconfiguration.draw_debug = True\nconfiguration.draw_text = True\n\n# We can also change the background color [default = black]\nconfiguration.bg_color = [1., 1., 1., 1.]\n\n# create the graphics object with the configuration as a parameter\ngraphics = rd.gui.Graphics(configuration)\nYou can disable or enable shadows on the fly as well:
C++Python// Disable shadows\ngraphics->enable_shadows(false, false);\nsimu.run(1.);\n// Enable shadows only for non-transparent objects\ngraphics->enable_shadows(true, false);\nsimu.run(1.);\n// Enable shadows for transparent objects as well\ngraphics->enable_shadows(true, true);\nsimu.run(1.);\n# Disable shadows\ngraphics.enable_shadows(False, False)\nsimu.run(1.)\n# Enable shadows only for non-transparent objects\ngraphics.enable_shadows(True, False)\nsimu.run(1.)\n# Enable shadows for transparent objects as well\ngraphics.enable_shadows(True, True)\nsimu.run(1.)\nYou can also add your own lights. The application by default creates 2 light sources and the maximum number of lights is 3 (you can change this once before the creation of the graphics object via the GraphicsConfiguration object). So usually before you add your lights, you have to clear the default lights:
// Clear Lights\ngraphics->clear_lights();\n# Clear Lights\ngraphics.clear_lights()\nThen you must create a custom light material:
C++Python// Create Light material\nMagnum::Float shininess = 1000.f;\nMagnum::Color4 white = {1.f, 1.f, 1.f, 1.f};\n\n// ambient, diffuse, specular\nauto custom_material = robot_dart::gui::magnum::gs::Material(white, white, white, shininess);\n# Clear Light material\nshininess = 1000.\nwhite = magnum.Color4(1., 1., 1., 1.)\n\n# ambient, diffuse, specular\ncustom_material = rd.gui.Material(white, white, white, shininess)\nNow you can add on ore more of the following lights:
Point Light:
C++Python// Create point light\nMagnum::Vector3 position = {0.f, 0.f, 2.f};\nMagnum::Float intensity = 1.f;\nMagnum::Vector3 attenuation_terms = {1.f, 0.f, 0.f};\nauto point_light = robot_dart::gui::magnum::gs::create_point_light(position, custom_material, intensity, attenuation_terms);\ngraphics->add_light(point_light);\n# Create point light\nposition = magnum.Vector3(0., 0., 2.)\nintensity = 1.\nattenuation_terms = magnum.Vector3(1., 0., 0.)\npoint_light = rd.gui.create_point_light(position, custom_material, intensity, attenuation_terms)\ngraphics.add_light(point_light)\nSpot Light:
C++Python// Create spot light\nMagnum::Vector3 position = {0.f, 0.f, 1.f};\nMagnum::Vector3 direction = {-1.f, -1.f, -1.f};\nMagnum::Float intensity = 1.f;\nMagnum::Vector3 attenuation_terms = {1.f, 0.f, 0.f};\nMagnum::Float spot_exponent = M_PI;\nMagnum::Float spot_cut_off = M_PI / 8;\nauto spot_light = robot_dart::gui::magnum::gs::create_spot_light(position, custom_material, direction, spot_exponent, spot_cut_off, intensity, attenuation_terms);\ngraphics->add_light(spot_light);\n# Create spot light\nposition = magnum.Vector3(0., 0., 1.)\ndirection = magnum.Vector3(-1, -1, -1)\nintensity = 1.\nattenuation_terms = magnum.Vector3(1., 0., 0.)\nspot_exponent = np.pi\nspot_cut_off = np.pi / 8\nspot_light = rd.gui.create_spot_light(position, custom_material, direction, spot_exponent, spot_cut_off, intensity, attenuation_terms)\ngraphics.add_light(spot_light)\nDirectional Light:
C++Python// Create directional light\nMagnum::Vector3 direction = {-1.f, -1.f, -1.f};\nauto directional_light = robot_dart::gui::magnum::gs::create_directional_light(direction, custom_material);\ngraphics->add_light(directional_light);\n# Create directional light\ndirection = magnum.Vector3(-1, -1, -1)\ndirectional_light = rd.gui.create_directional_light(direction, custom_material)\ngraphics.add_light(directional_light)\nYes this is possible. RobotDART gives the ability to create a clone of your robot that has no physics, no contacts, just visuals:
C++Python// Add a ghost robot; only visuals, no dynamics, no collision\nauto ghost = robot->clone_ghost();\nsimu.add_robot(ghost);\n# Add a ghost robot; only visuals, no dynamics, no collision\nghost = robot.clone_ghost()\nsimu.add_robot(ghost)\nPD control
C++Python// add a PD-controller to the arm\n// set desired positions\nEigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 4., 0., -M_PI / 4., 0., M_PI / 2., 0., 0.});\n\n// add the controller to the robot\nauto controller = std::make_shared<robot_dart::control::PDControl>(ctrl);\nrobot->add_controller(controller);\ncontroller->set_pd(300., 50.);\n# add a PD-controller to the arm\n# set desired positions\nctrl = [0., np.pi / 4., 0., -np.pi / 4., 0., np.pi / 2., 0., 0.]\n\n# add the controller to the robot\ncontroller = rd.PDControl(ctrl)\nrobot.add_controller(controller)\ncontroller.set_pd(300., 50.)\nSimple control
C++Pythonauto controller1 = std::make_shared<robot_dart::control::SimpleControl>(ctrl);\n// add the controller to the robot, with a default weight of 1.0\nrobot->add_controller(controller1);\ncontroller1 = rd.SimpleControl(ctrl)\n# add the controller to the robot, with a default weight of 1.0\nrobot.add_controller(controller1)\nRobot control
C++Pythonclass MyController : public robot_dart::control::RobotControl {\npublic:\n MyController() : robot_dart::control::RobotControl() {}\n\n MyController(const Eigen::VectorXd& ctrl, bool full_control) : robot_dart::control::RobotControl(ctrl, full_control) {}\n MyController(const Eigen::VectorXd& ctrl, const std::vector<std::string>& dof_names) : robot_dart::control::RobotControl(ctrl, dof_names) {}\n\n void configure() override\n {\n _active = true;\n }\n\n Eigen::VectorXd calculate(double) override\n {\n auto robot = _robot.lock();\n Eigen::VectorXd cmd = 100. * (_ctrl - robot->positions(_controllable_dofs));\n return cmd;\n }\n std::shared_ptr<robot_dart::control::RobotControl> clone() const override\n {\n return std::make_shared<MyController>(*this);\n }\n};\nclass MyController(rd.RobotControl):\n def __init__(self, ctrl, full_control):\n rd.RobotControl.__init__(self, ctrl, full_control)\n\n def __init__(self, ctrl, controllable_dofs):\n rd.RobotControl.__init__(self, ctrl, controllable_dofs)\n\n def configure(self):\n self._active = True\n\n def calculate(self, t):\n target = np.array([self._ctrl])\n cmd = 100*(target-self.robot().positions(self._controllable_dofs))\n return cmd[0]\n\n # TO-DO: This is NOT working at the moment!\n def clone(self):\n return MyController(self._ctrl, self._controllable_dofs)\nWhen creating a RobotDARTSimu object you choose the simulation timestep:
C++Python// choose time step of 0.001 seconds\nrobot_dart::RobotDARTSimu simu(0.001);\n# choose time step of 0.001 seconds\nsimu = rd.RobotDARTSimu(0.001)\nwhich can later be modified by:
C++Python// set timestep to 0.005 and update control frequency(bool)\nsimu.set_timestep(0.005, true);\n# set timestep to 0.005 and update control frequency(bool)\nsimu.set_timestep(0.005, True)\nYes you can modify the gravitational forces 3-dimensional vector of the simulation:
C++Python// Set gravitational force of mars\nEigen::Vector3d mars_gravity = {0., 0., -3.721};\nsimu.set_gravity(mars_gravity);\n# set gravitational force of mars\nmars_gravity = [0., 0., -3.721]\nsimu.set_gravity(mars_gravity)\nWe can easily select one of the available collision detectors using the simulator object:
C++Pythonsimu.set_collision_detector(\"fcl\"); // collision_detector can be \"dart\", \"fcl\", \"ode\" or \"bullet\" (case does not matter)\nsimu.set_collision_detector(\"fcl\") # collision_detector can be \"dart\", \"fcl\", \"ode\" or \"bullet\" (case does not matter)\nOne possible cause may be the fact that self collision is disabled, you can check and change this:
C++Pythonif (!robot->self_colliding()) {\n std::cout << \"Self collision is not enabled\" << std::endl;\n // set self collisions to true and adjacent collisions to false\n robot->set_self_collision(true, false);\n}\nif(not robot.self_colliding()):\n print(\"Self collision is not enabled\")\n # set self collisions to true and adjacent collisions to false\n robot.set_self_collision(True, False)\nKinematic Properties:
C++Python// Get Joint Positions(Angles)\nauto joint_positions = robot->positions();\n\n// Get Joint Velocities\nauto joint_vels = robot->velocities();\n\n// Get Joint Accelerations\nauto joint_accs = robot->accelerations();\n\n// Get link_name(str) Transformation matrix with respect to the world frame.\nauto eef_tf = robot->body_pose(link_name);\n\n// Get translation vector from transformation matrix\nauto eef_pos = eef_tf.translation();\n\n// Get rotation matrix from tranformation matrix\nauto eef_rot = eef_tf.rotation();\n\n// Get link_name 6d pose vector [logmap(eef_tf.linear()), eef_tf.translation()]\nauto eef_pose_vec = robot->body_pose_vec(link_name);\n\n// Get link_name 6d velocity vector [angular, cartesian]\nauto eef_vel = robot->body_velocity(link_name);\n\n// Get link_name 6d acceleration vector [angular, cartesian]\nauto eef_acc = robot->body_acceleration(link_name);\n\n// Jacobian targeting the origin of link_name(str)\nauto jacobian = robot->jacobian(link_name);\n\n// Jacobian time derivative\nauto jacobian_deriv = robot->jacobian_deriv(link_name);\n\n// Center of Mass Jacobian\nauto com_jacobian = robot->com_jacobian();\n\n// Center of Mass Jacobian Time Derivative\nauto com_jacobian_deriv = robot->com_jacobian_deriv();\n# Get Joint Positions(Angles)\njoint_positions = robot.positions()\n\n# Get Joint Velocities\njoint_vels = robot.velocities()\n\n# Get Joint Accelerations\njoint_accs = robot.accelerations()\n\n# Get link_name(str) Transformation matrix with respect to the world frame.\neef_tf = robot.body_pose(link_name)\n\n# Get translation vector from transformation matrix\neef_pos = eef_tf.translation()\n\n# Get rotation matrix from tranformation matrix\neef_rot = eef_tf.rotation()\n\n# Get link_name 6d pose vector [logmap(eef_tf.linear()), eef_tf.translation()]\neef_pose_vec = robot.body_pose_vec(link_name)\n\n# Get link_name 6d velocity vector [angular, cartesian]\neef_vel = robot.body_velocity(link_name)\n\n# Get link_name 6d acceleration vector [angular, cartesian]\neef_acc = robot.body_acceleration(link_name)\n\n# Jacobian targeting the origin of link_name(str)\njacobian = robot.jacobian(link_name)\n\n# Jacobian time derivative\njacobian_deriv = robot.jacobian_deriv(link_name)\n\n# Center of Mass Jacobian\ncom_jacobian = robot.com_jacobian()\n\n# Center of Mass Jacobian Time Derivative\ncom_jacobian_deriv = robot.com_jacobian_deriv()\nDynamic Properties:
C++Python// Get Joint Forces\nauto joint_forces = robot->forces();\n\n// Get link's mass\nauto eef_mass = robot->body_mass(link_name);\n\n// Mass Matrix of robot\nauto mass_matrix = robot->mass_matrix();\n\n// Inverse of Mass Matrix\nauto inv_mass_matrix = robot->inv_mass_matrix();\n\n// Augmented Mass matrix\nauto aug_mass_matrix = robot->aug_mass_matrix();\n\n// Inverse of Augmented Mass matrix\nauto inv_aug_mass_matrix = robot->inv_aug_mass_matrix();\n\n// Coriolis Force vector\nauto coriolis = robot->coriolis_forces();\n\n// Gravity Force vector\nauto gravity = robot->gravity_forces();\n\n// Combined vector of Coriolis Force and Gravity Force\nauto coriolis_gravity = robot->coriolis_gravity_forces();\n\n// Constraint Force Vector\nauto constraint_forces = robot->constraint_forces();\n# Get Joint Forces\njoint_forces = robot.forces()\n\n# Get link's mass\neef_mass = robot.body_mass(link_name)\n\n# Mass Matrix of robot\nmass_matrix = robot.mass_matrix()\n\n# Inverse of Mass Matrix\ninv_mass_matrix = robot.inv_mass_matrix()\n\n# Augmented Mass matrix\naug_mass_matrix = robot.aug_mass_matrix()\n\n# Inverse of Augmented Mass matrix\ninv_aug_mass_matrix = robot.inv_aug_mass_matrix()\n\n# Coriolis Force vector\ncoriolis = robot.coriolis_forces()\n\n# Gravity Force vector\ngravity = robot.gravity_forces()\n\n# Combined vector of Coriolis Force and Gravity Force\ncoriolis_gravity = robot.coriolis_gravity_forces()\n\n# NOT IMPLEMENTED\n# # Constraint Force Vector\n# constraint_forces = robot.constraint_forces()\nThere are 6 types of actuators available, you can set the same actuator to multiple joints at once, or you can set each sensor separately:
C++Python// Set all DoFs to same actuator\nrobot->set_actuator_types(\"servo\"); // actuator types can be \"servo\", \"torque\", \"velocity\", \"passive\", \"locked\", \"mimic\"\n// You can also set actuator types separately\nrobot->set_actuator_type(\"torque\", \"iiwa_joint_5\");\n# Set all DoFs to same actuator\n# actuator types can be \"servo\", \"torque\", \"velocity\", \"passive\", \"locked\", \"mimic\"\nrobot.set_actuator_types(\"servo\")\n# You can also set actuator types separately\nrobot.set_actuator_type(\"torque\", \"iiwa_joint_5\")\nTo enable position and velocity limits for the actuators:
C++Python// \u0395nforce joint position and velocity limits\nrobot->set_position_enforced(true);\n# \u0395nforce joint position and velocity limits\nrobot.set_position_enforced(True)\nEvery DOF's limits (position, velocity, acceleration, force) can be modified:
C++Python// Modify Position Limits\nEigen::VectorXd pos_upper_lims(7);\npos_upper_lims << 2.096, 2.096, 2.096, 2.096, 2.096, 2.096, 2.096;\nrobot->set_position_upper_limits(pos_upper_lims, dof_names);\nrobot->set_position_lower_limits(-pos_upper_lims, dof_names);\n\n// Modify Velocity Limits\n\nEigen::VectorXd vel_upper_lims(7);\nvel_upper_lims << 1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5;\nrobot->set_velocity_upper_limits(vel_upper_lims, dof_names);\nrobot->set_velocity_lower_limits(-vel_upper_lims, dof_names);\n\n// Modify Force Limits\n\nEigen::VectorXd force_upper_lims(7);\nforce_upper_lims << 150, 150, 150, 150, 150, 150, 150;\nrobot->set_force_upper_limits(force_upper_lims, dof_names);\nrobot->set_force_lower_limits(-force_upper_lims, dof_names);\n\n// Modify Acceleration Limits\nEigen::VectorXd acc_upper_lims(7);\nacc_upper_lims << 1500, 1500, 1500, 1500, 1500, 1500, 1500;\nrobot->set_acceleration_upper_limits(acc_upper_lims, dof_names);\nrobot->set_acceleration_lower_limits(-acc_upper_lims, dof_names);\n# Modify Position Limits\npos_upper_lims = np.array([2.096, 2.096, 2.096, 2.096, 2.096, 2.096, 2.096])\nrobot.set_position_upper_limits(pos_upper_lims, dof_names)\nrobot.set_position_lower_limits(-1*pos_upper_lims, dof_names)\n\n# Modify Velocity Limits\nvel_upper_lims = np.array([1.5, 1.5, 1.5, 1.5, 1.5, 1.5, 1.5])\n\nrobot.set_velocity_upper_limits(vel_upper_lims, dof_names)\nrobot.set_velocity_lower_limits(-1*vel_upper_lims, dof_names)\n\n# Modify Force Limits\nforce_upper_lims = np.array([150, 150, 150, 150, 150, 150, 150])\nrobot.set_force_upper_limits(force_upper_lims, dof_names)\nrobot.set_force_lower_limits(-1*force_upper_lims, dof_names)\n\n# Modify Acceleration Limits\nacc_upper_lims = np.array([1500, 1500, 1500, 1500, 1500, 1500, 1500])\nrobot.set_acceleration_upper_limits(acc_upper_lims, dof_names)\nrobot.set_acceleration_lower_limits(-1*acc_upper_lims, dof_names)\nYou can also modify the damping coefficients, coulomb frictions and spring stiffness of every DOF:
C++Python// Modify Damping Coefficients\nstd::vector<double> damps = {0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4};\nrobot->set_damping_coeffs(damps, dof_names);\n\n// Modify Coulomb Frictions\nstd::vector<double> cfrictions = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001};\nrobot->set_coulomb_coeffs(cfrictions, dof_names);\n\n// Modify Spring Stiffness\nstd::vector<double> stiffnesses = {0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001};\nrobot->set_spring_stiffnesses(stiffnesses, dof_names);\n# Modify Damping Coefficients\ndamps = [0.4, 0.4, 0.4, 0.4, 0.4, 0.4, 0.4]\nrobot.set_damping_coeffs(damps, dof_names)\n\n# Modify Coulomb Frictions\ncfrictions = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]\nrobot.set_coulomb_coeffs(cfrictions, dof_names)\n\n# Modify Spring Stiffness\nstiffnesses = [0.001, 0.001, 0.001, 0.001, 0.001, 0.001, 0.001]\nrobot.set_spring_stiffnesses(stiffnesses, dof_names)\nSensors in RobotDART can be added only through the simulator object. All of the sensors can be added without being attached to any body or joint but some of them can operate only when attached to something (e.g. ForceTorque sensors).
Torque sensors can be added to every joint of the robot:
C++Python// Add torque sensors to the robot\nint ct = 0;\nstd::vector<std::shared_ptr<robot_dart::sensor::Torque>> tq_sensors(robot->num_dofs());\nfor (const auto& joint : robot->dof_names())\n tq_sensors[ct++] = simu.add_sensor<robot_dart::sensor::Torque>(robot, joint, 1000);\n# Add torque sensors to the robot\ntq_sensors = np.empty(robot.num_dofs(), dtype=rd.sensor.Torque)\nct = 0\nfor joint in robot.dof_names():\n simu.add_sensor(rd.sensor.Torque(robot, joint, 1000))\n tq_sensors[ct] = simu.sensors()[-1]\n ct += 1\nTorque sensors measure the torque \\(\\tau \\in \\rm I\\!R^n\\) of the attached joint (where \\(n\\) is the DOFs of the joint):
C++Python// vector that contains the torque measurement for every joint (scalar)\nEigen::VectorXd torques_measure(robot->num_dofs());\nfor (const auto& tq_sens : tq_sensors)\n torques_measure.block<1, 1>(ct++, 0) = tq_sens->torques();\n# vector that contains the torque measurement for every joint (scalar)\ntorques_measure = np.empty(robot.num_dofs())\nct = 0\nfor tq_sens in tq_sensors:\n torques_measure[ct] = tq_sens.torques()\n ct += 1\nForce-Torque sensors can be added to every joint of the robot:
C++Python// Add force-torque sensors to the robot\nct = 0;\nstd::vector<std::shared_ptr<robot_dart::sensor::ForceTorque>> f_tq_sensors(robot->num_dofs());\nfor (const auto& joint : robot->dof_names())\n f_tq_sensors[ct++] = simu.add_sensor<robot_dart::sensor::ForceTorque>(robot, joint, 1000, \"parent_to_child\");\n# Add force-torque sensors to the robot\nf_tq_sensors = np.empty(robot.num_dofs(), dtype=rd.sensor.ForceTorque)\nct = 0\nfor joint in robot.dof_names():\n simu.add_sensor(rd.sensor.ForceTorque(\n robot, joint, 1000, \"parent_to_child\"))\n f_tq_sensors[ct] = simu.sensors()[-1]\n print(f_tq_sensors)\n ct += 1\nTorque sensors measure the force \\(\\boldsymbol{F} \\in \\rm I\\!R^3\\), the torque \\(\\boldsymbol{\\tau} \\in \\rm I\\!R^3\\) and the wrench \\(\\boldsymbol{\\mathcal{F}} =\\begin{bmatrix} \\tau, F\\end{bmatrix}\\in \\rm I\\!R^6\\) of the attached joint:
C++Python// matrix that contains the torque measurement for every joint (3d vector)\nEigen::MatrixXd ft_torques_measure(robot->num_dofs(), 3);\n// matrix that contains the force measurement for every joint (3d vector)\nEigen::MatrixXd ft_forces_measure(robot->num_dofs(), 3);\n// matrix that contains the wrench measurement for every joint (6d vector)[torque, force]\nEigen::MatrixXd ft_wrench_measure(robot->num_dofs(), 6);\nct = 0;\nfor (const auto& f_tq_sens : f_tq_sensors) {\n ft_torques_measure.block<1, 3>(ct, 0) = f_tq_sens->torque();\n ft_forces_measure.block<1, 3>(ct, 0) = f_tq_sens->force();\n ft_wrench_measure.block<1, 6>(ct, 0) = f_tq_sens->wrench();\n ct++;\n}\n# matrix that contains the torque measurement for every joint (3d vector)\nft_torques_measure = np.empty([robot.num_dofs(), 3])\n# matrix that contains the force measurement for every joint (3d vector)\nft_forces_measure = np.empty([robot.num_dofs(), 3])\n# matrix that contains the wrench measurement for every joint (6d vector)[torque, force]\nft_wrench_measure = np.empty([robot.num_dofs(), 6])\nct = 0\nfor f_tq_sens in f_tq_sensors:\n ft_torques_measure[ct, :] = f_tq_sens.torque()\n ft_forces_measure[ct, :] = f_tq_sens.force()\n ft_wrench_measure[ct, :] = f_tq_sens.wrench()\n ct += 1\nIMU sensors can be added to every link of the robot:
C++Python// Add IMU sensors to the robot\nct = 0;\nstd::vector<std::shared_ptr<robot_dart::sensor::IMU>> imu_sensors(robot->num_bodies());\nfor (const auto& body_node : robot->body_names()) {\n // _imu(std::make_shared<sensor::IMU>(sensor::IMUConfig(body_node(\"head\"), frequency))),\n imu_sensors[ct++] = simu.add_sensor<robot_dart::sensor::IMU>(robot_dart::sensor::IMUConfig(robot->body_node(body_node), 1000));\n}\n# Add IMU sensors to the robot\nct = 0\nimu_sensors = np.empty(robot.num_bodies(), dtype=rd.sensor.IMU)\nfor body_node in robot.body_names():\n simu.add_sensor(rd.sensor.IMU(\n rd.sensor.IMUConfig(robot.body_node(body_node), 1000)))\n imu_sensors[ct] = simu.sensors()[-1]\n ct += 1\nIMU sensors measure the angular position vector \\(\\boldsymbol{\\theta} \\in \\rm I\\!R^3\\), the angular velocity \\(\\boldsymbol{\\omega} \\in \\rm I\\!R^3\\) and the linear acceleration \\(\\boldsymbol{\\alpha} \\in \\rm I\\!R^3\\) of the attached link:
C++PythonEigen::MatrixXd imu_angular_positions_measure(robot->num_bodies(), 3);\nEigen::MatrixXd imu_angular_velocities_measure(robot->num_bodies(), 3);\nEigen::MatrixXd imu_linear_acceleration_measure(robot->num_bodies(), 3);\nct = 0;\nfor (const auto& imu_sens : imu_sensors) {\n imu_angular_positions_measure.block<1, 3>(ct, 0) = imu_sens->angular_position_vec();\n imu_angular_velocities_measure.block<1, 3>(ct, 0) = imu_sens->angular_velocity();\n imu_linear_acceleration_measure.block<1, 3>(ct, 0) = imu_sens->linear_acceleration();\n ct++;\n}\nimu_angular_positions_measure = np.empty([robot.num_bodies(), 3])\nimu_angular_velocities_measure = np.empty([robot.num_bodies(), 3])\nimu_linear_acceleration_measure = np.empty([robot.num_bodies(), 3])\nct = 0\nfor imu_sens in imu_sensors:\n imu_angular_positions_measure[ct,:] = imu_sens.angular_position_vec()\n imu_angular_velocities_measure[ct, :] = imu_sens.angular_velocity()\n imu_linear_acceleration_measure[ct,:] = imu_sens.linear_acceleration()\n ct += 1\nAny camera can be used as an RGB sensor:
C++Python// a nested std::vector (w*h*3) of the last image taken can be retrieved\nauto rgb_image = camera->image();\n# a nested array (w*h*3) of the last image taken can be retrieved\nrgb_image = camera.image()\nWe can easily save the image and/or transform it to grayscale:
C++Python// a nested std::vector (w*h*3) of the last image taken can be retrieved\nauto rgb_image = camera->image();\n# a nested array (w*h*3) of the last image taken can be retrieved\nrgb_image = camera.image()\nAny camera can also be configured to also record depth:
C++Pythoncamera->camera().record(true, true); // cameras are recording color images by default, enable depth images as well for this example\n# cameras are recording color images by default, enable depth images as well for this example\ncamera.camera().record(True, True)\nWe can then read the RGB and depth images:
C++Python// get the depth image from a camera\n// with a version for visualization or bigger differences in the output\nauto rgb_d_image = camera->depth_image();\n// and the raw values that can be used along with the camera parameters to transform the image to point-cloud\nauto rgb_d_image_raw = camera->raw_depth_image();\n# get the depth image from a camera\n# with a version for visualization or bigger differences in the output\nrgb_d_image = camera.depth_image()\n# and the raw values that can be used along with the camera parameters to transform the image to point-cloud\nrgb_d_image_raw = camera.raw_depth_image()\nWe can save the depth images as well:
C++Pythonrobot_dart::gui::save_png_image(\"camera-depth.png\", rgb_d_image);\nrobot_dart::gui::save_png_image(\"camera-depth-raw.png\", rgb_d_image_raw);\nrd.gui.save_png_image(\"camera-depth.png\", rgb_d_image)\nrd.gui.save_png_image(\"camera-depth-raw.png\", rgb_d_image_raw)\nThe best way to do so is to create a Robot pool. With a robot pool you:
Let's see a more practical example:
#include <robot_dart/robot_pool.hpp>\ncreator function and the pool object:namespace pool {\n // This function should load one robot: here we load Talos\n inline std::shared_ptr<robot_dart::Robot> robot_creator()\n {\n return std::make_shared<robot_dart::robots::Talos>();\n }\n\n // To create the object we need to pass the robot_creator function and the number of maximum parallel threads\n robot_dart::RobotPool robot_pool(robot_creator, NUM_THREADS);\n} // namespace pool\nThe creator function is the function responsible for loading your robot. This should basically look like a standalone code to load or create a robot.
// for the example, we run NUM_THREADS threads of eval_robot()\nstd::vector<std::thread> threads(NUM_THREADS * 2); // *2 to see some reuse\nfor (size_t i = 0; i < threads.size(); ++i)\n threads[i] = std::thread(eval_robot, i); // eval_robot is the function that uses the robot\ninline void eval_robot(int i)\n{\n // We get one available robot\n auto robot = pool::robot_pool.get_robot();\n std::cout << \"Robot \" << i << \" got [\" << robot->skeleton() << \"]\" << std::endl;\n\n /// --- some robot_dart code ---\n simulate_robot(robot);\n // --- do something with the result\n\n std::cout << \"End of simulation \" << i << std::endl;\n\n // CRITICAL : free your robot !\n pool::robot_pool.free_robot(robot);\n\n std::cout << \"Robot \" << i << \" freed!\" << std::endl;\n}\nWe have not implemented this feature in Python yet. One can emulate the RobotPool behavior or create a custom parallel robot loader.
Below you can find an example showcasing the use of many worlds with camera sensors in parallel.
C++Python// Load robot from URDF\nauto global_robot = std::make_shared<robot_dart::robots::Iiwa>();\n\nstd::vector<std::thread> workers;\n\n// Set maximum number of parallel GL contexts (this is GPU-dependent)\nrobot_dart::gui::magnum::GlobalData::instance()->set_max_contexts(4);\n\n// We want 15 parallel simulations with different GL context each\nsize_t N_workers = 15;\nstd::mutex mutex;\nsize_t id = 0;\n// Launch the workers\nfor (size_t i = 0; i < N_workers; i++) {\n workers.push_back(std::thread([&] {\n mutex.lock();\n size_t index = id++;\n mutex.unlock();\n\n // Get the GL context -- this is a blocking call\n // will wait until one GL context is available\n // get_gl_context(gl_context); // this call will not sleep between failed queries\n get_gl_context_with_sleep(gl_context, 20); // this call will sleep 20ms between each failed query\n\n // Do the simulation\n auto robot = global_robot->clone();\n\n robot_dart::RobotDARTSimu simu(0.001);\n\n Eigen::VectorXd ctrl = robot_dart::make_vector({0., M_PI / 3., 0., -M_PI / 4., 0., 0., 0.});\n\n auto controller = std::make_shared<robot_dart::control::PDControl>(ctrl);\n robot->add_controller(controller);\n controller->set_pd(300., 50.);\n\n // Magnum graphics\n robot_dart::gui::magnum::GraphicsConfiguration configuration = robot_dart::gui::magnum::WindowlessGraphics::default_configuration();\n\n configuration.width = 1024;\n configuration.height = 768;\n auto graphics = std::make_shared<robot_dart::gui::magnum::WindowlessGraphics>(configuration);\n simu.set_graphics(graphics);\n // Position the camera differently for each thread to visualize the difference\n graphics->look_at({0.4 * index, 3.5 - index * 0.1, 2.}, {0., 0., 0.25});\n // record images from main camera/graphics\n // graphics->set_recording(true); // WindowlessGLApplication records images by default\n\n simu.add_robot(robot);\n simu.run(6);\n\n // Save the image for verification\n robot_dart::gui::save_png_image(\"camera_\" + std::to_string(index) + \".png\",\n graphics->image());\n\n // Release the GL context for another thread to use\n release_gl_context(gl_context);\n }));\n}\n\n// Wait for all the workers\nfor (size_t i = 0; i < workers.size(); i++) {\n workers[i].join();\n}\nrobot = rd.Robot(\"arm.urdf\", \"arm\", False)\nrobot.fix_to_world()\n\ndef test():\n pid = os.getpid()\n ii = pid%15\n\n # create the controller\n pdcontrol = rd.PDControl([0.0, 1.0, -1.5, 1.0], False)\n\n # clone the robot\n grobot = robot.clone()\n\n # add the controller to the robot\n grobot.add_controller(pdcontrol, 1.)\n pdcontrol.set_pd(200., 20.)\n\n # create the simulation object\n simu = rd.RobotDARTSimu(0.001)\n\n # set the graphics\n graphics = rd.gui.WindowlessGraphics()\n simu.set_graphics(graphics)\n\n graphics.look_at([0.4 * ii, 3.5 - ii * 0.1, 2.], [0., 0., 0.25], [0., 0., 1.])\n\n # add the robot and the floor\n simu.add_robot(grobot)\n simu.add_checkerboard_floor()\n\n # run\n simu.run(20.)\n\n # save last frame for visualization purposes\n img = graphics.image()\n rd.gui.save_png_image('camera-' + str(ii) + '.png', img)\n\n# helper function to run in parallel\ndef runInParallel(N):\n proc = []\n for i in range(N):\n # rd.gui.run_with_gl_context accepts 2 parameters:\n # (func, wait_time_in_ms)\n # the func needs to be of the following format: void(), aka no return, no arguments\n p = Process(target=rd.gui.run_with_gl_context, args=(test, 20))\n p.start()\n proc.append(p)\n for p in proc:\n p.join()\n\nprint('Running parallel evaluations')\nN = 15\nstart = timer()\nrunInParallel(N)\nend = timer()\nprint('Time:', end-start)\nIn C++ you are also able to pre-allocate a custom number of OpenGL contexts so that you can take advantage of stronger GPUs.
"},{"location":"faq/#i-do-not-know-how-to-use-waf-how-can-i-detect-robotdart-from-cmake","title":"I do not know how to use waf. How can I detect RobotDART from CMake?","text":"You need to use waf to build RobotDART, but when installing the library a CMake module is installed. Thus it is possible use RobotDART in your code using CMake. You can find a complete example at cmake/example. In short the CMake would look like this:
RobotDart and Magnum are installed.RobotDart and Magnum are not installed in standard locations, you can either:CMAKE_PREFIX_PATH environment variable: export CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\ncmake: cmake -DRobotDART_DIR=/opt/robot_dart -DMagnum_DIR=/opt/magnum ..\ncmake_minimum_required(VERSION 3.10 FATAL_ERROR)\nproject(robot_dart_example)\n# we ask for Magnum because we want to build the graphics\nfind_package(RobotDART REQUIRED OPTIONAL_COMPONENTS Magnum)\n\nadd_executable(robot_dart_example example.cpp)\n\ntarget_link_libraries(robot_dart_example\n RobotDART::Simu\n)\n\nif(RobotDART_Magnum_FOUND)\n add_executable(robot_dart_example_graphics example.cpp)\n target_link_libraries(robot_dart_example_graphics\n RobotDART::Simu\n RobotDART::Magnum\n )\nendif()\nC++ examples
Python examples
"},{"location":"install/","title":"Manual Installation","text":""},{"location":"install/#manual-installation-of-robotdart","title":"Manual Installation of RobotDART","text":"For the quick installation manual, see the quick installation page.
"},{"location":"install/#dependencies","title":"Dependencies","text":""},{"location":"install/#required","title":"Required","text":"Note: The following instructions are high-level and assume people with some experience in building/installing software.
"},{"location":"install/#installing-system-wide-packages","title":"Installing system-wide packages","text":"For Ubuntu-based distributions (>=20.04) we should use the following commands:
sudo apt-get update\nsudo apt-get install build-essential cmake pkg-config git libboost-regex-dev libboost-system-dev libboost-test-dev pybind11-dev\nsudo apt-get install libdart-all-dev\nFor OSX with brew:
brew install dartsim\nMagnum depends on Corrade and we are going to use a few plugins and extras from the library. We are also going to use Glfw and Glx for the back-end. Follow the instrutions below:
#installation of Glfw and OpenAL\n# Ubuntu\nsudo apt-get install libglfw3-dev libglfw3 libassimp-dev libopenal-dev libglfw3-dev libsdl2-dev libopenexr-dev libdevil-dev libpng-dev libfaad-dev libfreetype6-dev\n# Mac OSX\nbrew install glfw3 openal-soft assimp\n\n# installation of Corrade\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/corrade.git\ncd corrade\nmkdir build && cd build\ncmake -DCMAKE_BUILD_TYPE=Release ..\nmake -j\nsudo make install\n\n# installation of Magnum\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum.git\ncd magnum\nmkdir build && cd build\n# Ubuntu\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSEGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON -DTARGET_EGL=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\n# Mac OSX\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_AUDIO=ON -DWITH_DEBUGTOOLS=ON -DWITH_GL=ON -DWITH_MESHTOOLS=ON -DWITH_PRIMITIVES=ON -DWITH_SCENEGRAPH=ON -DWITH_SHADERS=ON -DWITH_TEXT=ON -DWITH_TEXTURETOOLS=ON -DWITH_TRADE=ON -DWITH_GLFWAPPLICATION=ON -DWITH_WINDOWLESSCGLAPPLICATION=ON -DWITH_OPENGLTESTER=ON -DWITH_ANYAUDIOIMPORTER=ON -DWITH_ANYIMAGECONVERTER=ON -DWITH_ANYIMAGEIMPORTER=ON -DWITH_ANYSCENEIMPORTER=ON -DWITH_MAGNUMFONT=ON -DWITH_OBJIMPORTER=ON -DWITH_TGAIMPORTER=ON -DWITH_WAVAUDIOIMPORTER=ON .. # this will enable almost all features of Magnum that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\nmake -j\nsudo make install\n\n# installation of Magnum Plugins\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-plugins.git\ncd magnum-plugins\nmkdir build && cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_ASSIMPIMPORTER=ON -DWITH_DDSIMPORTER=ON -DWITH_JPEGIMPORTER=ON -DWITH_OPENGEXIMPORTER=ON -DWITH_PNGIMPORTER=ON -DWITH_TINYGLTFIMPORTER=ON -DWITH_STBTRUETYPEFONT=ON .. # this will enable quite a few Magnum Plugins that are not necessarily needed for robot_dart (please refer to the documentation of Magnum for more details on selecting only the ones that you need)\nmake -j\nsudo make install\n\n# installation of Magnum DART Integration (DART needs to be installed) and Eigen Integration\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-integration.git\ncd magnum-integration\nmkdir build && cd build\ncmake -DCMAKE_BUILD_TYPE=Release -DWITH_DART=ON -DWITH_EIGEN=ON ..\nmake -j\nsudo make install\n\n# Installation of Magnum Python Bindings (some examples use them but this is optional)\ncd /path/to/tmp/folder\ngit clone https://github.com/mosra/magnum-bindings.git\ncd magnum-bindings\nmkdir build && cd build\ncmake .. -DMAGNUM_WITH_PYTHON=ON\nmake -j\ncd src/python\nsudo python3 setup.py install\nFor OSX you can also install Magnum via brew: brew install --HEAD mosra/magnum/corrade && brew install --HEAD mosra/magnum/magnum && brew install --HEAD mosra/magnum/magnum-plugins && brew install --HEAD mosra/magnum/magnum-integration --with-dartsim
The compilation of the library is straight-forward:
git clone https://github.com/resibots/robot_dart.gitcd /path/to/repo/root./waf configure./wafTo build the examples, execute this: ./waf examples
Now you can run the examples. For example, to run the arm example you need to type the following: ./build/arm (or ./build/arm_plain to run it without graphics).
To install the library (assuming that you have already compiled it), you need only to run:
./waf installBy default the library will be installed in /usr/local/lib (for this maybe sudo ./waf install might be needed) and a static library will be generated. You can change the defaults as follows:
./waf configure --prefix=/path/to/install/dir --shared./waf installIn short, with --prefix you can change the directory where the library will be installed and if --shared is present a shared library will be created instead of a static one.
For the python bindings of robot_dart, we need numpy to be installed, pybind11 and the python bindings of DART (dartpy).
For numpy one can install it with pip or standard packages. dartpy should be installed via the packages above. If not, please see the installation instructions on the main DART website.
Then the compilation of robot_dart is almost identical as before:
git clone https://github.com/resibots/robot_dart.gitcd /path/to/repo/root./waf configure --python (--python enables the python bindings)./wafPYTHONPATH, e.g. export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.10/site-packages/To run the python examples (for the python examples you need to have enabled the graphics, that is, install Magnum library), run:
cd /path/to/repo/rootpython src/python/example.py or python src/python/example_parallel.pyOne of the most common issue with the python bindings is the fact that DART bindings might be compiled and installed for python 3 and the robot_dart ones for python 2. To force the usage of python 3 for robot_dart, you use python3 ./waf instead of just ./waf in all the commands above.
Anne, T. and Mouret, J.B., 2024. Parametric-Task MAP-Elites. Proceedings of the Genetic and Evolutionary Computation Conference (GECCO). (pdf)
Ivaldi, S. and Ghini, E., 2023, June. Teleoperating a robot for removing asbestos tiles on roofs: insights from a pilot study. In 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 128-133). IEEE. (pdf)
Khadivar, F., Chatzilygeroudis, K. and Billard, A., 2023. Self-correcting quadratic programming-based robot control. IEEE Transactions on Systems, Man, and Cybernetics: Systems. (pdf)
Souza, A.O., Grenier, J., Charpillet, F., Maurice, P. and Ivaldi, S., 2023, June. Towards data-driven predictive control of active upper-body exoskeletons for load carrying. In 2023 IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO) (pp. 59-64). IEEE. (pdf)
Chatzilygeroudis, K.I., Tsakonas, C.G. and Vrahatis, M.N., 2023, July. Evolving Dynamic Locomotion Policies in Minutes. In 2023 14th International Conference on Information, Intelligence, Systems & Applications (IISA) (pp. 1-8). IEEE. (pdf)
Tsakonas, C.G. and Chatzilygeroudis, K.I., 2023, July. Effective Skill Learning via Autonomous Goal Representation Learning. In 2023 14th International Conference on Information, Intelligence, Systems & Applications (IISA) (pp. 1-8). IEEE. (pdf)
Totsila, D., Chatzilygeroudis, K., Hadjivelichkov, D., Modugno, V., Hatzilygeroudis, I. and Kanoulas, D., 2023. End-to-End Stable Imitation Learning via Autonomous Neural Dynamic Policies. Life-Long Learning with Human Help (L3H2) Workshop, ICRA. (pdf)
Allard, M., Smith, S.C., Chatzilygeroudis, K., Lim, B. and Cully, A., 2023. Online damage recovery for physical robots with hierarchical quality-diversity. ACM Transactions on Evolutionary Learning, 3(2), pp.1-23. (pdf)
Anne, T., Dalin, E., Bergonzani, I., Ivaldi, S. and Mouret, J.B., 2022. First do not fall: learning to exploit a wall with a damaged humanoid robot. IEEE Robotics and Automation Letters, 7(4), pp.9028-9035. (pdf)
Mayr, M., Ahmad, F., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022, December. Skill-based multi-objective reinforcement learning of industrial robot tasks with planning and knowledge integration. In 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO) (pp. 1995-2002). IEEE. (pdf)
Grillotti, L. and Cully, A., 2022. Unsupervised behavior discovery with quality-diversity optimization. IEEE Transactions on Evolutionary Computation, 26(6), pp.1539-1552. (pdf)
Lim, B., Grillotti, L., Bernasconi, L. and Cully, A., 2022, May. Dynamics-aware quality-diversity for efficient learning of skill repertoires. In 2022 International Conference on Robotics and Automation (ICRA) (pp. 5360-5366). IEEE. (pdf)
Tsinganos, K., Chatzilygeroudis, K., Hadjivelichkov, D., Komninos, T., Dermatas, E. and Kanoulas, D., 2022. Behavior policy learning: Learning multi-stage tasks via solution sketches and model-based controllers. Frontiers in Robotics and AI, 9, p.974537. (pdf)
d'Elia, E., Mouret, J.B., Kober, J. and Ivaldi, S., 2022, October. Automatic tuning and selection of whole-body controllers. In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 12935-12941). IEEE. (pdf)
Mayr, M., Hvarfner, C., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022, August. Learning skill-based industrial robot tasks with user priors. In 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE) (pp. 1485-1492). IEEE. (pdf)
Allard, M., Smith, S.C., Chatzilygeroudis, K. and Cully, A., 2022, July. Hierarchical quality-diversity for online damage recovery. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 58-67). (pdf)
Mayr, M., Ahmad, F., Chatzilygeroudis, K., Nardi, L. and Krueger, V., 2022. Combining planning, reasoning and reinforcement learning to solve industrial robot tasks. 2nd Workshop on Trends and Advances in Machine Learning and Automated Reasoning for Intelligent Robots and Systems, IROS. (pdf)
Cully, A., 2021, June. Multi-emitter map-elites: improving quality, diversity and data efficiency with heterogeneous sets of emitters. In Proceedings of the Genetic and Evolutionary Computation Conference (pp. 84-92). (pdf)
Mayr, M., Chatzilygeroudis, K., Ahmad, F., Nardi, L. and Krueger, V., 2021, September. Learning of parameters in behavior trees for movement skills. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 7572-7579). IEEE. (pdf)
Penco, L., Hoffman, E.M., Modugno, V., Gomes, W., Mouret, J.B. and Ivaldi, S., 2020. Learning robust task priorities and gains for control of redundant robots. IEEE Robotics and Automation Letters, 5(2), pp.2626-2633. (pdf)
Flageat, M. and Cully, A., 2020, July. Fast and stable MAP-Elites in noisy domains using deep grids. In Artificial Life Conference Proceedings 32 (pp. 273-282). One Rogers Street, Cambridge, MA 02142-1209, USA journals-info@ mit. edu: MIT Press. (pdf)
Paul, S., Chatzilygeroudis, K., Ciosek, K., Mouret, J.B., Osborne, M.A. and Whiteson, S., 2020. Robust reinforcement learning with Bayesian optimisation and quadrature. Journal of Machine Learning Research, 21(151), pp.1-31. (pdf)
Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.B., 2018. Reset-free trial-and-error learning for robot damage recovery. Robotics and Autonomous Systems, 100, pp.236-250. (pdf)
Pautrat, R., Chatzilygeroudis, K. and Mouret, J.B., 2018, May. Bayesian optimization with automatic prior selection for data-efficient direct policy search. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (pp. 7571-7578). IEEE. (pdf)
Chatzilygeroudis, K. and Mouret, J.B., 2018, May. Using parameterized black-box priors to scale up model-based policy search for robotics. In 2018 IEEE international conference on robotics and automation (ICRA) (pp. 5121-5128). IEEE. (pdf)
Paul, S., Chatzilygeroudis, K., Ciosek, K., Mouret, J.B., Osborne, M. and Whiteson, S., 2018, April. Alternating optimisation and quadrature for robust control. In Proceedings of the AAAI Conference on Artificial Intelligence (Vol. 32, No. 1). (pdf)
Kaushik, R., Chatzilygeroudis, K. and Mouret, J.B., 2018, October. Multi-objective model-based policy search for data-efficient learning with sparse rewards. In Conference on Robot Learning (pp. 839-855). PMLR. (pdf)
Vassiliades, V., Chatzilygeroudis, K. and Mouret, J.B., 2017. Using centroidal voronoi tessellations to scale up the multidimensional archive of phenotypic elites algorithm. IEEE Transactions on Evolutionary Computation, 22(4), pp.623-630. (pdf)
Mouret, J.B. and Chatzilygeroudis, K., 2017, July. 20 years of reality gap: a few thoughts about simulators in evolutionary robotics. In Proceedings of the genetic and evolutionary computation conference companion (pp. 1121-1124). (pdf)
Papaspyros, V., Chatzilygeroudis, K., Vassiliades, V. and Mouret, J.B., 2016. Safety-aware robot damage recovery using constrained bayesian optimization and simulated priors. BayesOpt '16: Proceedings of the International Workshop \"Bayesian Optimization: Black-box Optimization and Beyond\", NeurIPS. (pdf)
Chatzilygeroudis, K., Cully, A. and Mouret, J.B., 2016. Towards semi-episodic learning for robot damage recovery. AILTA '16: Proceedings of the International Workshop \"AI for Long-term Autonomy\", ICRA. (pdf)
In this page we provide standalone scripts for installing RobotDART for Ubuntu (>=20.04) and OSX. The scripts will install all the required dependencies and RobotDART. Notably, all dependencies that need to be compiled by source and RobotDART will be installed inside the /opt folder. This way, one can be rest assured that their system will be clean.
ffmpeg is needed for enabling the video recording capabilities. You can install this at any time using your favorite package manager (e.g. apt for Ubuntu or brew for Mac OSX).
To quickly install RobotDART on Ubuntu >=20.04, we just need to run ./scripts/install_ubuntu.sh from the root of the repo. In more detail:
git clone https://github.com/resibots/robot_dart.gitcd robot_dart./scripts/install_ubuntu.shThis will install everything needed! Once the script is successfully executed, one should add the following to their ~/.bashrc or ~/.zshrc file (you may need to swap the python version to yours1):
export PATH=/opt/magnum/bin:$PATH\nexport CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\nexport LD_LIBRARY_PATH=/opt/magnum/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH\nexport PYTHONPATH=/opt/robot_dart/lib/python3.10/site-packages:$PYTHONPATH\nTo quickly install RobotDART on Mac OSX, we just need to run ./scripts/install_osx.sh from the root of the repo. In more detail:
git clone https://github.com/resibots/robot_dart.gitcd robot_dart./scripts/install_osx.shThis will install everything needed! Once the script is successfully executed, one should add the following to their ~/.bashrc or ~/.zshrc file (you may need to swap the python version to yours1):
export PATH=/opt/magnum/bin:$PATH\nexport CMAKE_PREFIX_PATH=/opt/robot_dart:/opt/magnum\nexport LD_LIBRARY_PATH=/opt/magnum/lib:/opt/robot_dart/lib:$LD_LIBRARY_PATH\nexport PYTHONPATH=/opt/robot_dart/lib/python3.10/site-packages:$PYTHONPATH\nYou can run python --version to see your version. We only keep the major.minor (ignoring the patch version)\u00a0\u21a9\u21a9
Every robot is a defined as a URDF, which will be installed $PREFIX/share/utheque. All robots have pre-defined \"robot classes\" that define sensors and other properties; for your custom/new robots, you will have to add the sensors/properties via the generic robot class (or create a new robot class).
The URDF files are loaded using the following rules (see utheque::path()):
current_directory/utheque$ROBOT_DART_PATH/utheque/usr/share/utheque or $HOME/share/utheque)utheque is a separate header-only library that gets installed together with RobotDART (or even alone), that can be used in libraries that do not want to interfere with RobotDART and use the curated URDF files.
Talos is a humanoid robot made by PAL Robotics.
We have two URDF files:
utheque/talos/talos.urdf :Load Talos
C++auto robot = std::make_shared<robot_dart::robots::Talos>();\nrobot = rd.Talos()\nutheque/talos/talos_fast.urdf:talos_fast.urdf is faster because it makes it possible to use the DART collision detector (and has much collision shapes). You should prefer it except if you want to use the grippers (e.g., for manipulation) or are working on self-collisions.
utheque/talos/talos_fast_collision.urdf:talos_fast_collision.urdf is faster than talos.urdf but slower than talos_fast.urdf. You should use it when you need more detail collisions but faster simulation times.
Load Talos Fast
C++// load talos fast\nauto robot = std::make_shared<robot_dart::robots::TalosFastCollision>();\nrobot = rd.TalosFastCollision()\nPlease note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.
"},{"location":"robots/#panda-franka-emika","title":"Panda (Franka Emika)","text":"The Franka is a modern manipulator made by Franka Emika Panda. It is commonly found in many robotics labs.
Load Franka
C++auto robot = std::make_shared<robot_dart::robots::Franka>();\nrobot = rd.Franka()\nThe LBR iiwa is manufactured by KUKA. It is similar to the Panda and is also very common in robotics labs.
Load Iiwa
C++auto robot = std::make_shared<robot_dart::robots::Iiwa>();\nrobot = rd.Iiwa()\nThe iCub is a open source humanoid robot made by the Instituto Italiano di Tecnologia. There are currently 42 iCUbs in the world, and many versions.
Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.
Load iCub
C++auto robot = std::make_shared<robot_dart::robots::ICub>();\n// Set actuator types to VELOCITY motors so that they stay in position without any controller\nrobot->set_actuator_types(\"velocity\");\nrobot_dart::RobotDARTSimu simu(0.001);\nsimu.set_collision_detector(\"fcl\");\nrobot = rd.ICub()\n\n# Set actuator types to VELOCITY motors so that they stay in position without any controller\nrobot.set_actuator_types(\"velocity\")\nsimu = rd.RobotDARTSimu(0.001)\nsimu.set_collision_detector(\"fcl\")\nPrint IMU sensor measurements
C++std::cout << \"Angular Position: \" << robot->imu().angular_position_vec().transpose().format(fmt) << std::endl;\nstd::cout << \"Angular Velocity: \" << robot->imu().angular_velocity().transpose().format(fmt) << std::endl;\nstd::cout << \"Linear Acceleration: \" << robot->imu().linear_acceleration().transpose().format(fmt) << std::endl;\nstd::cout << \"=================================\" << std::endl;\nprint(\"Angular Position: \", robot.imu().angular_position_vec().transpose())\nprint(\"Angular Velocity: \", robot.imu().angular_velocity().transpose())\nprint(\"Linear Acceleration: \", robot.imu().linear_acceleration().transpose())\nprint(\"=================================\" )\nPrint Force-Torque sensor measurements
C++std::cout << \"FT ( force): \" << robot->ft_foot_left().force().transpose().format(fmt) << std::endl;\nstd::cout << \"FT (torque): \" << robot->ft_foot_left().torque().transpose().format(fmt) << std::endl;\nstd::cout << \"=================================\" << std::endl;\nprint(\"FT ( force): \", robot.ft_foot_left().force().transpose())\nprint(\"FT (torque): \", robot.ft_foot_left().torque().transpose())\nprint(\"=================================\")\nA1 is a quadruped robot made by the Unitree Robotics.
Load A1
C++auto robot = std::make_shared<robot_dart::robots::A1>();\nrobot = rd.A1()\nPrint IMU sensor measurements
C++std::cout << \"Angular Position: \" << robot->imu().angular_position_vec().transpose().format(fmt) << std::endl;\nstd::cout << \"Angular Velocity: \" << robot->imu().angular_velocity().transpose().format(fmt) << std::endl;\nstd::cout << \"Linear Acceleration: \" << robot->imu().linear_acceleration().transpose().format(fmt) << std::endl;\nstd::cout << \"=================================\" << std::endl;\nprint( \"Angular Position: \", robot.imu().angular_position_vec().transpose())\nprint( \"Angular Velocity: \", robot.imu().angular_velocity().transpose())\nprint( \"Linear Acceleration: \", robot.imu().linear_acceleration().transpose())\nprint( \"=================================\")\nAdd a depth camera on the head
How can I attach a camera to a moving link?
Please note that the mesh files (.glb) require assimp 5.x (and not assimp4.x usually shipped with ROS). If you cannot load the URDF, please check your assimp version.
"},{"location":"robots/#dynamixel-based-hexapod-robot-inria-and-others","title":"Dynamixel-based hexapod robot (Inria and others)","text":"This hexapod is a simple 6-legged robot based on dynamixel actuators. It is similar to the robot used in the paper `Robots that can adapt like animals' (Cully et al., 2015).
Load Hexapod
C++auto robot = std::make_shared<robot_dart::robots::Hexapod>();\nrobot = rd.Hexapod()\nLoad Pexod
C++auto robot = std::make_shared<robot_dart::Robot>(\"pexod.urdf\");\nrobot = rd.Robot(\"pexod.urdf\");\nLoad Simple Arm
C++auto robot = std::make_shared<robot_dart::robots::Arm>();\nrobot = rd.Arm()\nRobotDART gives you the ability to load custom robots that are defined in URDF, SDF, SKEL or MJCF files. For example, you can load a urdf model using:
Load custom Robot
C++ auto your_robot = std::make_shared<robot_dart::Robot>(\"path/to/model.urdf\");\n your_robot = robot_dart.Robot(\"path/to/model.urdf\")\nLoad custom Robot with packages (e.g STL, DAE meshes)
C++ std::vector<std::pair<std::string, std::string>> your_model_packages = ('model', 'path/to/model/dir');\n auto your_robot = std::make_shared<robot_dart::Robot>(\"path/to/model.urdf\", your_model_packages, \"packages\");\n your_model_packages = [(\"model\", \"path/to/model/dir\")]\n your_robot = robot_dart.Robot(\"path/to/model.urdf\", your_model_packages)\nHere are the classes, structs, unions and interfaces with brief descriptions:
Here is a list of all files with brief descriptions:
Namespace List > Magnum
"},{"location":"api/namespaceMagnum/#namespaces","title":"Namespaces","text":"Type Name namespace GL namespace Platform namespace SceneGraph namespace ShadersThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
Namespace List > Magnum > GL
The documentation for this class was generated from the following file [generated]
Namespace List > Magnum > Platform
The documentation for this class was generated from the following file [generated]
Namespace List > Magnum > SceneGraph
The documentation for this class was generated from the following file [generated]
Namespace List > Magnum > Shaders
"},{"location":"api/namespaceMagnum_1_1Shaders/#namespaces","title":"Namespaces","text":"Type Name namespace ImplementationThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
Namespace List > Magnum > Shaders > Implementation
"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#public-functions","title":"Public Functions","text":"Type Name GL::Shader createCompatibilityShader (const Utility::Resource & rs, GL::Version version, GL::Shader::Type type)"},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespaceMagnum_1_1Shaders_1_1Implementation/#function-createcompatibilityshader","title":"function createCompatibilityShader","text":"inline GL::Shader Magnum::Shaders::Implementation::createCompatibilityShader (\n const Utility::Resource & rs,\n GL::Version version,\n GL::Shader::Type type\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
Namespace List > TinyProcessLib
The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.hpp
Namespace List > dart
"},{"location":"api/namespacedart/#namespaces","title":"Namespaces","text":"Type Name namespace collision namespace dynamicsThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
Namespace List > dart > collision
The documentation for this class was generated from the following file [generated]
Namespace List > dart > dynamics
The documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
Namespace List > robot_dart
"},{"location":"api/namespacerobot__dart/#namespaces","title":"Namespaces","text":"Type Name namespace collision_filter namespace control namespace detail namespace gui namespace robots namespace sensor namespace simu"},{"location":"api/namespacerobot__dart/#classes","title":"Classes","text":"Type Name class Assertion class Robot class RobotDARTSimu class RobotPool class Scheduler"},{"location":"api/namespacerobot__dart/#public-attributes","title":"Public Attributes","text":"Type Name auto body_node_get_friction_coeff = = { return body->getFrictionCoeff();\n\n}<br> |\n| auto | body_node_get_restitution_coeff = = {
return body->getRestitutionCoeff();\n\n}<br> |\n| auto | body_node_set_friction_coeff = = {
body->setFrictionCoeff(value);\n\n}<br> |\n| auto | body_node_set_restitution_coeff = = {
body->setRestitutionCoeff(value);\n\n}<br> |\nauto robot_dart::body_node_get_friction_coeff;\nauto robot_dart::body_node_get_restitution_coeff;\nauto robot_dart::body_node_set_friction_coeff;\nauto robot_dart::body_node_set_restitution_coeff;\ninline Eigen::Isometry3d robot_dart::make_tf (\n const Eigen::Matrix3d & R,\n const Eigen::Vector3d & t\n) \ninline Eigen::Isometry3d robot_dart::make_tf (\n const Eigen::Matrix3d & R\n) \ninline Eigen::Isometry3d robot_dart::make_tf (\n const Eigen::Vector3d & t\n) \ninline Eigen::Isometry3d robot_dart::make_tf (\n std::initializer_list< double > args\n) \ninline Eigen::VectorXd robot_dart::make_vector (\n std::initializer_list< double > args\n) \nThe documentation for this class was generated from the following file robot_dart/control/pd_control.cpp
ClassList > robot_dart > Assertion
Inherits the following classes: std::exception
"},{"location":"api/classrobot__dart_1_1Assertion/#public-functions","title":"Public Functions","text":"Type Name Assertion (const std::string & msg=\"\") const char * what () const"},{"location":"api/classrobot__dart_1_1Assertion/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Assertion/#function-assertion","title":"function Assertion","text":"inline robot_dart::Assertion::Assertion (\n const std::string & msg=\"\"\n) \ninline const char * robot_dart::Assertion::what () const\nThe documentation for this class was generated from the following file robot_dart/utils.hpp
ClassList > robot_dart > Robot
Inherits the following classes: std::enable_shared_from_this< Robot >
Inherited by the following classes: robot_dart::robots::A1, robot_dart::robots::Arm, robot_dart::robots::Franka, robot_dart::robots::Hexapod, robot_dart::robots::ICub, robot_dart::robots::Iiwa, robot_dart::robots::Pendulum, robot_dart::robots::Talos, robot_dart::robots::Tiago, robot_dart::robots::Ur3e, robot_dart::robots::Vx300
"},{"location":"api/classrobot__dart_1_1Robot/#public-functions","title":"Public Functions","text":"Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1Robot/#public-static-functions","title":"Public Static Functions","text":"Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1Robot/#protected-attributes","title":"Protected Attributes","text":"Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1Robot/#protected-functions","title":"Protected Functions","text":"Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1Robot/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Robot/#function-robot-13","title":"function Robot [\u2153]","text":"robot_dart::Robot::Robot (\n const std::string & model_file,\n const std::vector< std::pair< std::string, std::string > > & packages,\n const std::string & robot_name=\"robot\",\n bool is_urdf_string=false,\n bool cast_shadows=true\n) \nrobot_dart::Robot::Robot (\n const std::string & model_file,\n const std::string & robot_name=\"robot\",\n bool is_urdf_string=false,\n bool cast_shadows=true\n) \nrobot_dart::Robot::Robot (\n dart::dynamics::SkeletonPtr skeleton,\n const std::string & robot_name=\"robot\",\n bool cast_shadows=true\n) \nEigen::VectorXd robot_dart::Robot::acceleration_lower_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::acceleration_upper_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::accelerations (\n const std::vector< std::string > & dof_names={}\n) const\nstd::vector< std::shared_ptr< control::RobotControl > > robot_dart::Robot::active_controllers () const\nstd::string robot_dart::Robot::actuator_type (\n const std::string & joint_name\n) const\nstd::vector< std::string > robot_dart::Robot::actuator_types (\n const std::vector< std::string > & joint_names={}\n) const\nvoid robot_dart::Robot::add_body_mass (\n const std::string & body_name,\n double mass\n) \nvoid robot_dart::Robot::add_body_mass (\n size_t body_index,\n double mass\n) \nvoid robot_dart::Robot::add_controller (\n const std::shared_ptr< control::RobotControl > & controller,\n double weight=1.0\n) \nvoid robot_dart::Robot::add_external_force (\n const std::string & body_name,\n const Eigen::Vector3d & force,\n const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(),\n bool force_local=false,\n bool offset_local=true\n) \nvoid robot_dart::Robot::add_external_force (\n size_t body_index,\n const Eigen::Vector3d & force,\n const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(),\n bool force_local=false,\n bool offset_local=true\n) \nvoid robot_dart::Robot::add_external_torque (\n const std::string & body_name,\n const Eigen::Vector3d & torque,\n bool local=false\n) \nvoid robot_dart::Robot::add_external_torque (\n size_t body_index,\n const Eigen::Vector3d & torque,\n bool local=false\n) \nbool robot_dart::Robot::adjacent_colliding () const\nEigen::MatrixXd robot_dart::Robot::aug_mass_matrix (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::Isometry3d robot_dart::Robot::base_pose () const\nEigen::Vector6d robot_dart::Robot::base_pose_vec () const\nEigen::Vector6d robot_dart::Robot::body_acceleration (\n const std::string & body_name\n) const\nEigen::Vector6d robot_dart::Robot::body_acceleration (\n size_t body_index\n) const\nsize_t robot_dart::Robot::body_index (\n const std::string & body_name\n) const\ndouble robot_dart::Robot::body_mass (\n const std::string & body_name\n) const\ndouble robot_dart::Robot::body_mass (\n size_t body_index\n) const\nstd::string robot_dart::Robot::body_name (\n size_t body_index\n) const\nstd::vector< std::string > robot_dart::Robot::body_names () const\ndart::dynamics::BodyNode * robot_dart::Robot::body_node (\n const std::string & body_name\n) \ndart::dynamics::BodyNode * robot_dart::Robot::body_node (\n size_t body_index\n) \nEigen::Isometry3d robot_dart::Robot::body_pose (\n const std::string & body_name\n) const\nEigen::Isometry3d robot_dart::Robot::body_pose (\n size_t body_index\n) const\nEigen::Vector6d robot_dart::Robot::body_pose_vec (\n const std::string & body_name\n) const\nEigen::Vector6d robot_dart::Robot::body_pose_vec (\n size_t body_index\n) const\nEigen::Vector6d robot_dart::Robot::body_velocity (\n const std::string & body_name\n) const\nEigen::Vector6d robot_dart::Robot::body_velocity (\n size_t body_index\n) const\nbool robot_dart::Robot::cast_shadows () const\nvoid robot_dart::Robot::clear_controllers () \nvoid robot_dart::Robot::clear_external_forces () \nvoid robot_dart::Robot::clear_internal_forces () \nstd::shared_ptr< Robot > robot_dart::Robot::clone () const\nstd::shared_ptr< Robot > robot_dart::Robot::clone_ghost (\n const std::string & ghost_name=\"ghost\",\n const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}\n) const\nEigen::Vector3d robot_dart::Robot::com () const\nEigen::Vector6d robot_dart::Robot::com_acceleration () const\nEigen::MatrixXd robot_dart::Robot::com_jacobian (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::com_jacobian_deriv (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::Vector6d robot_dart::Robot::com_velocity () const\nEigen::VectorXd robot_dart::Robot::commands (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::constraint_forces (\n const std::vector< std::string > & dof_names={}\n) const\nstd::shared_ptr< control::RobotControl > robot_dart::Robot::controller (\n size_t index\n) const\nstd::vector< std::shared_ptr< control::RobotControl > > robot_dart::Robot::controllers () const\nEigen::VectorXd robot_dart::Robot::coriolis_forces (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::coriolis_gravity_forces (\n const std::vector< std::string > & dof_names={}\n) const\nstd::vector< double > robot_dart::Robot::coulomb_coeffs (\n const std::vector< std::string > & dof_names={}\n) const\nstd::vector< double > robot_dart::Robot::damping_coeffs (\n const std::vector< std::string > & dof_names={}\n) const\ndart::dynamics::DegreeOfFreedom * robot_dart::Robot::dof (\n const std::string & dof_name\n) \ndart::dynamics::DegreeOfFreedom * robot_dart::Robot::dof (\n size_t dof_index\n) \nsize_t robot_dart::Robot::dof_index (\n const std::string & dof_name\n) const\nconst std::unordered_map< std::string, size_t > & robot_dart::Robot::dof_map () const\nstd::string robot_dart::Robot::dof_name (\n size_t dof_index\n) const\nstd::vector< std::string > robot_dart::Robot::dof_names (\n bool filter_mimics=false,\n bool filter_locked=false,\n bool filter_passive=false\n) const\nconst std::vector< std::pair< dart::dynamics::BodyNode *, double > > & robot_dart::Robot::drawing_axes () const\nEigen::Vector6d robot_dart::Robot::external_forces (\n const std::string & body_name\n) const\nEigen::Vector6d robot_dart::Robot::external_forces (\n size_t body_index\n) const\nvoid robot_dart::Robot::fix_to_world () \nbool robot_dart::Robot::fixed () const\nEigen::VectorXd robot_dart::Robot::force_lower_limits (\n const std::vector< std::string > & dof_names={}\n) const\nvoid robot_dart::Robot::force_position_bounds () \nstd::pair< Eigen::Vector6d, Eigen::Vector6d > robot_dart::Robot::force_torque (\n size_t joint_index\n) const\nEigen::VectorXd robot_dart::Robot::force_upper_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::forces (\n const std::vector< std::string > & dof_names={}\n) const\nbool robot_dart::Robot::free () const\nvoid robot_dart::Robot::free_from_world (\n const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()\n) \ndouble robot_dart::Robot::friction_coeff (\n const std::string & body_name\n) \ndouble robot_dart::Robot::friction_coeff (\n size_t body_index\n) \nEigen::Vector3d robot_dart::Robot::friction_dir (\n const std::string & body_name\n) \nEigen::Vector3d robot_dart::Robot::friction_dir (\n size_t body_index\n) \nbool robot_dart::Robot::ghost () const\nEigen::VectorXd robot_dart::Robot::gravity_forces (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::inv_aug_mass_matrix (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::inv_mass_matrix (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::jacobian (\n const std::string & body_name,\n const std::vector< std::string > & dof_names={}\n) const\nEigen::MatrixXd robot_dart::Robot::jacobian_deriv (\n const std::string & body_name,\n const std::vector< std::string > & dof_names={}\n) const\ndart::dynamics::Joint * robot_dart::Robot::joint (\n const std::string & joint_name\n) \ndart::dynamics::Joint * robot_dart::Robot::joint (\n size_t joint_index\n) \nsize_t robot_dart::Robot::joint_index (\n const std::string & joint_name\n) const\nconst std::unordered_map< std::string, size_t > & robot_dart::Robot::joint_map () const\nstd::string robot_dart::Robot::joint_name (\n size_t joint_index\n) const\nstd::vector< std::string > robot_dart::Robot::joint_names () const\nstd::vector< std::string > robot_dart::Robot::locked_dof_names () const\nEigen::MatrixXd robot_dart::Robot::mass_matrix (\n const std::vector< std::string > & dof_names={}\n) const\nstd::vector< std::string > robot_dart::Robot::mimic_dof_names () const\ninline const std::string & robot_dart::Robot::model_filename () const\ninline const std::vector< std::pair< std::string, std::string > > & robot_dart::Robot::model_packages () const\nconst std::string & robot_dart::Robot::name () const\nsize_t robot_dart::Robot::num_bodies () const\nsize_t robot_dart::Robot::num_controllers () const\nsize_t robot_dart::Robot::num_dofs () const\nsize_t robot_dart::Robot::num_joints () const\nstd::vector< std::string > robot_dart::Robot::passive_dof_names () const\nstd::vector< bool > robot_dart::Robot::position_enforced (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::position_lower_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::position_upper_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::positions (\n const std::vector< std::string > & dof_names={}\n) const\nvoid robot_dart::Robot::reinit_controllers () \nvoid robot_dart::Robot::remove_all_drawing_axis () \nvoid robot_dart::Robot::remove_controller (\n const std::shared_ptr< control::RobotControl > & controller\n) \nvoid robot_dart::Robot::remove_controller (\n size_t index\n) \nvirtual void robot_dart::Robot::reset () \nvoid robot_dart::Robot::reset_commands () \ndouble robot_dart::Robot::restitution_coeff (\n const std::string & body_name\n) \ndouble robot_dart::Robot::restitution_coeff (\n size_t body_index\n) \ndouble robot_dart::Robot::secondary_friction_coeff (\n const std::string & body_name\n) \ndouble robot_dart::Robot::secondary_friction_coeff (\n size_t body_index\n) \nbool robot_dart::Robot::self_colliding () const\nvoid robot_dart::Robot::set_acceleration_lower_limits (\n const Eigen::VectorXd & accelerations,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_acceleration_upper_limits (\n const Eigen::VectorXd & accelerations,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_accelerations (\n const Eigen::VectorXd & accelerations,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_actuator_type (\n const std::string & type,\n const std::string & joint_name,\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::set_actuator_types (\n const std::string & type,\n const std::vector< std::string > & joint_names={},\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::set_base_pose (\n const Eigen::Isometry3d & tf\n) \nvoid robot_dart::Robot::set_base_pose (\n const Eigen::Vector6d & pose\n) \nvoid robot_dart::Robot::set_body_mass (\n const std::string & body_name,\n double mass\n) \nvoid robot_dart::Robot::set_body_mass (\n size_t body_index,\n double mass\n) \nvoid robot_dart::Robot::set_body_name (\n size_t body_index,\n const std::string & body_name\n) \nvoid robot_dart::Robot::set_cast_shadows (\n bool cast_shadows=true\n) \nvoid robot_dart::Robot::set_color_mode (\n const std::string & color_mode\n) \nvoid robot_dart::Robot::set_color_mode (\n const std::string & color_mode,\n const std::string & body_name\n) \nvoid robot_dart::Robot::set_commands (\n const Eigen::VectorXd & commands,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_coulomb_coeffs (\n const std::vector< double > & cfrictions,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_coulomb_coeffs (\n double cfriction,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_damping_coeffs (\n const std::vector< double > & damps,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_damping_coeffs (\n double damp,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_draw_axis (\n const std::string & body_name,\n double size=0.25\n) \nvoid robot_dart::Robot::set_external_force (\n const std::string & body_name,\n const Eigen::Vector3d & force,\n const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(),\n bool force_local=false,\n bool offset_local=true\n) \nvoid robot_dart::Robot::set_external_force (\n size_t body_index,\n const Eigen::Vector3d & force,\n const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(),\n bool force_local=false,\n bool offset_local=true\n) \nvoid robot_dart::Robot::set_external_torque (\n const std::string & body_name,\n const Eigen::Vector3d & torque,\n bool local=false\n) \nvoid robot_dart::Robot::set_external_torque (\n size_t body_index,\n const Eigen::Vector3d & torque,\n bool local=false\n) \nvoid robot_dart::Robot::set_force_lower_limits (\n const Eigen::VectorXd & forces,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_force_upper_limits (\n const Eigen::VectorXd & forces,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_forces (\n const Eigen::VectorXd & forces,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_friction_coeff (\n const std::string & body_name,\n double value\n) \nvoid robot_dart::Robot::set_friction_coeff (\n size_t body_index,\n double value\n) \nvoid robot_dart::Robot::set_friction_coeffs (\n double value\n) \nvoid robot_dart::Robot::set_friction_dir (\n const std::string & body_name,\n const Eigen::Vector3d & direction\n) \nvoid robot_dart::Robot::set_friction_dir (\n size_t body_index,\n const Eigen::Vector3d & direction\n) \nvoid robot_dart::Robot::set_ghost (\n bool ghost=true\n) \nvoid robot_dart::Robot::set_joint_name (\n size_t joint_index,\n const std::string & joint_name\n) \nvoid robot_dart::Robot::set_mimic (\n const std::string & joint_name,\n const std::string & mimic_joint_name,\n double multiplier=1.,\n double offset=0.\n) \nvoid robot_dart::Robot::set_position_enforced (\n const std::vector< bool > & enforced,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_position_enforced (\n bool enforced,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_position_lower_limits (\n const Eigen::VectorXd & positions,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_position_upper_limits (\n const Eigen::VectorXd & positions,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_positions (\n const Eigen::VectorXd & positions,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_restitution_coeff (\n const std::string & body_name,\n double value\n) \nvoid robot_dart::Robot::set_restitution_coeff (\n size_t body_index,\n double value\n) \nvoid robot_dart::Robot::set_restitution_coeffs (\n double value\n) \nvoid robot_dart::Robot::set_secondary_friction_coeff (\n const std::string & body_name,\n double value\n) \nvoid robot_dart::Robot::set_secondary_friction_coeff (\n size_t body_index,\n double value\n) \nvoid robot_dart::Robot::set_secondary_friction_coeffs (\n double value\n) \nvoid robot_dart::Robot::set_self_collision (\n bool enable_self_collisions=true,\n bool enable_adjacent_collisions=false\n) \nvoid robot_dart::Robot::set_spring_stiffnesses (\n const std::vector< double > & stiffnesses,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_spring_stiffnesses (\n double stiffness,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_velocities (\n const Eigen::VectorXd & velocities,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_velocity_lower_limits (\n const Eigen::VectorXd & velocities,\n const std::vector< std::string > & dof_names={}\n) \nvoid robot_dart::Robot::set_velocity_upper_limits (\n const Eigen::VectorXd & velocities,\n const std::vector< std::string > & dof_names={}\n) \ndart::dynamics::SkeletonPtr robot_dart::Robot::skeleton () \nstd::vector< double > robot_dart::Robot::spring_stiffnesses (\n const std::vector< std::string > & dof_names={}\n) const\nvoid robot_dart::Robot::update (\n double t\n) \nvoid robot_dart::Robot::update_joint_dof_maps () \nEigen::VectorXd robot_dart::Robot::vec_dof (\n const Eigen::VectorXd & vec,\n const std::vector< std::string > & dof_names\n) const\nEigen::VectorXd robot_dart::Robot::velocities (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::velocity_lower_limits (\n const std::vector< std::string > & dof_names={}\n) const\nEigen::VectorXd robot_dart::Robot::velocity_upper_limits (\n const std::vector< std::string > & dof_names={}\n) const\ninline virtual robot_dart::Robot::~Robot () \nstatic std::shared_ptr< Robot > robot_dart::Robot::create_box (\n const Eigen::Vector3d & dims,\n const Eigen::Isometry3d & tf,\n const std::string & type=\"free\",\n double mass=1.0,\n const Eigen::Vector4d & color=dart::Color::Red(1.0),\n const std::string & box_name=\"box\"\n) \nstatic std::shared_ptr< Robot > robot_dart::Robot::create_box (\n const Eigen::Vector3d & dims,\n const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(),\n const std::string & type=\"free\",\n double mass=1.0,\n const Eigen::Vector4d & color=dart::Color::Red(1.0),\n const std::string & box_name=\"box\"\n) \nstatic std::shared_ptr< Robot > robot_dart::Robot::create_ellipsoid (\n const Eigen::Vector3d & dims,\n const Eigen::Isometry3d & tf,\n const std::string & type=\"free\",\n double mass=1.0,\n const Eigen::Vector4d & color=dart::Color::Red(1.0),\n const std::string & ellipsoid_name=\"ellipsoid\"\n) \nstatic std::shared_ptr< Robot > robot_dart::Robot::create_ellipsoid (\n const Eigen::Vector3d & dims,\n const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(),\n const std::string & type=\"free\",\n double mass=1.0,\n const Eigen::Vector4d & color=dart::Color::Red(1.0),\n const std::string & ellipsoid_name=\"ellipsoid\"\n) \nstd::vector<std::pair<dart::dynamics::BodyNode*, double> > robot_dart::Robot::_axis_shapes;\nbool robot_dart::Robot::_cast_shadows;\nstd::vector<std::shared_ptr<control::RobotControl> > robot_dart::Robot::_controllers;\nstd::unordered_map<std::string, size_t> robot_dart::Robot::_dof_map;\nbool robot_dart::Robot::_is_ghost;\nstd::unordered_map<std::string, size_t> robot_dart::Robot::_joint_map;\nstd::string robot_dart::Robot::_model_filename;\nstd::vector<std::pair<std::string, std::string> > robot_dart::Robot::_packages;\nstd::string robot_dart::Robot::_robot_name;\ndart::dynamics::SkeletonPtr robot_dart::Robot::_skeleton;\ndart::dynamics::Joint::ActuatorType robot_dart::Robot::_actuator_type (\n size_t joint_index\n) const\nstd::vector< dart::dynamics::Joint::ActuatorType > robot_dart::Robot::_actuator_types () const\nstd::string robot_dart::Robot::_get_path (\n const std::string & filename\n) const\nEigen::MatrixXd robot_dart::Robot::_jacobian (\n const Eigen::MatrixXd & full_jacobian,\n const std::vector< std::string > & dof_names\n) const\ndart::dynamics::SkeletonPtr robot_dart::Robot::_load_model (\n const std::string & filename,\n const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(),\n bool is_urdf_string=false\n) \nEigen::MatrixXd robot_dart::Robot::_mass_matrix (\n const Eigen::MatrixXd & full_mass_matrix,\n const std::vector< std::string > & dof_names\n) const\ninline virtual void robot_dart::Robot::_post_addition (\n RobotDARTSimu *\n) \ninline virtual void robot_dart::Robot::_post_removal (\n RobotDARTSimu *\n) \nvoid robot_dart::Robot::_set_actuator_type (\n size_t joint_index,\n dart::dynamics::Joint::ActuatorType type,\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::_set_actuator_types (\n const std::vector< dart::dynamics::Joint::ActuatorType > & types,\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::_set_actuator_types (\n dart::dynamics::Joint::ActuatorType type,\n bool override_mimic=false,\n bool override_base=false\n) \nvoid robot_dart::Robot::_set_color_mode (\n dart::dynamics::MeshShape::ColorMode color_mode,\n dart::dynamics::SkeletonPtr skel\n) \nvoid robot_dart::Robot::_set_color_mode (\n dart::dynamics::MeshShape::ColorMode color_mode,\n dart::dynamics::ShapeNode * sn\n) \nThe documentation for this class was generated from the following file robot_dart/robot.hpp
ClassList > robot_dart > RobotDARTSimu
"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-types","title":"Public Types","text":"Type Name typedef std::shared_ptr< Robot > robot_t"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-functions","title":"Public Functions","text":"Type Name RobotDARTSimu (double timestep=0.015) std::shared_ptr< Robot > add_checkerboard_floor (double floor_width=10.0, double floor_height=0.1, double size=1., const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(), const std::string & floor_name=\"checkerboard_floor\", const Eigen::Vector4d & first_color=dart::Color::White(1.), const Eigen::Vector4d & second_color=dart::Color::Gray(1.)) std::shared_ptr< Robot > add_floor (double floor_width=10.0, double floor_height=0.1, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(), const std::string & floor_name=\"floor\") void add_robot (const robot_t & robot) std::shared_ptr< T > add_sensor (Args &&... args) void add_sensor (const std::shared_ptr< sensor::Sensor > & sensor) std::shared_ptr< simu::TextData > add_text (const std::string & text, const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2<< 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28) void add_visual_robot (const robot_t & robot) void clear_robots () void clear_sensors () uint32_t collision_category (size_t robot_index, const std::string & body_name) uint32_t collision_category (size_t robot_index, size_t body_index) const std::string & collision_detector () const uint32_t collision_mask (size_t robot_index, const std::string & body_name) uint32_t collision_mask (size_t robot_index, size_t body_index) std::pair< uint32_t, uint32_t > collision_masks (size_t robot_index, const std::string & body_name) std::pair< uint32_t, uint32_t > collision_masks (size_t robot_index, size_t body_index) int control_freq () const void enable_status_bar (bool enable=true, double font_size=-1) void enable_text_panel (bool enable=true, double font_size=-1) std::shared_ptr< gui::Base > graphics () const int graphics_freq () const Eigen::Vector3d gravity () const simu::GUIData * gui_data () bool halted_sim () const size_t num_robots () const int physics_freq () const void remove_all_collision_masks () void remove_collision_masks (size_t robot_index) void remove_collision_masks (size_t robot_index, const std::string & body_name) void remove_collision_masks (size_t robot_index, size_t body_index) void remove_robot (const robot_t & robot) void remove_robot (size_t index) void remove_sensor (const std::shared_ptr< sensor::Sensor > & sensor) void remove_sensor (size_t index) void remove_sensors (const std::string & type) robot_t robot (size_t index) const int robot_index (const robot_t & robot) const const std::vector< robot_t > & robots () const void run (double max_duration=5.0, bool reset_commands=false, bool force_position_bounds=true) bool schedule (int freq) Scheduler & scheduler () const Scheduler & scheduler () const std::shared_ptr< sensor::Sensor > sensor (size_t index) const std::vector< std::shared_ptr< sensor::Sensor > > sensors () const void set_collision_detector (const std::string & collision_detector) void set_collision_masks (size_t robot_index, uint32_t category_mask, uint32_t collision_mask) void set_collision_masks (size_t robot_index, const std::string & body_name, uint32_t category_mask, uint32_t collision_mask) void set_collision_masks (size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask) void set_control_freq (int frequency) void set_graphics (const std::shared_ptr< gui::Base > & graphics) void set_graphics_freq (int frequency) void set_gravity (const Eigen::Vector3d & gravity) void set_text_panel (const std::string & str) void set_timestep (double timestep, bool update_control_freq=true) std::string status_bar_text () const bool step (bool reset_commands=false, bool force_position_bounds=true) bool step_world (bool reset_commands=false, bool force_position_bounds=true) void stop_sim (bool disable=true) std::string text_panel_text () const double timestep () const dart::simulation::WorldPtr world () ~RobotDARTSimu ()"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _break int _control_freq = = -1 std::shared_ptr< gui::Base > _graphics int _graphics_freq = = 40 std::unique_ptr< simu::GUIData > _gui_data size_t _old_index int _physics_freq = = -1 std::vector< robot_t > _robots Scheduler _scheduler std::vector< std::shared_ptr< sensor::Sensor > > _sensors std::shared_ptr< simu::TextData > _status_bar = = nullptr std::shared_ptr< simu::TextData > _text_panel = = nullptr dart::simulation::WorldPtr _world"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#protected-functions","title":"Protected Functions","text":"Type Name void _enable (std::shared_ptr< simu::TextData > & text, bool enable, double font_size)"},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotDARTSimu/#typedef-robot_t","title":"typedef robot_t","text":"using robot_dart::RobotDARTSimu::robot_t = std::shared_ptr<Robot>;\nrobot_dart::RobotDARTSimu::RobotDARTSimu (\n double timestep=0.015\n) \nstd::shared_ptr< Robot > robot_dart::RobotDARTSimu::add_checkerboard_floor (\n double floor_width=10.0,\n double floor_height=0.1,\n double size=1.,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(),\n const std::string & floor_name=\"checkerboard_floor\",\n const Eigen::Vector4d & first_color=dart::Color::White(1.),\n const Eigen::Vector4d & second_color=dart::Color::Gray(1.)\n) \nstd::shared_ptr< Robot > robot_dart::RobotDARTSimu::add_floor (\n double floor_width=10.0,\n double floor_height=0.1,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity(),\n const std::string & floor_name=\"floor\"\n) \nvoid robot_dart::RobotDARTSimu::add_robot (\n const robot_t & robot\n) \ntemplate<typename T, typename... Args>\ninline std::shared_ptr< T > robot_dart::RobotDARTSimu::add_sensor (\n Args &&... args\n) \nvoid robot_dart::RobotDARTSimu::add_sensor (\n const std::shared_ptr< sensor::Sensor > & sensor\n) \nstd::shared_ptr< simu::TextData > robot_dart::RobotDARTSimu::add_text (\n const std::string & text,\n const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(),\n Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),\n std::uint8_t alignment=2<< 2,\n bool draw_bg=false,\n Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),\n double font_size=28\n) \nvoid robot_dart::RobotDARTSimu::add_visual_robot (\n const robot_t & robot\n) \nvoid robot_dart::RobotDARTSimu::clear_robots () \nvoid robot_dart::RobotDARTSimu::clear_sensors () \nuint32_t robot_dart::RobotDARTSimu::collision_category (\n size_t robot_index,\n const std::string & body_name\n) \nuint32_t robot_dart::RobotDARTSimu::collision_category (\n size_t robot_index,\n size_t body_index\n) \nconst std::string & robot_dart::RobotDARTSimu::collision_detector () const\nuint32_t robot_dart::RobotDARTSimu::collision_mask (\n size_t robot_index,\n const std::string & body_name\n) \nuint32_t robot_dart::RobotDARTSimu::collision_mask (\n size_t robot_index,\n size_t body_index\n) \nstd::pair< uint32_t, uint32_t > robot_dart::RobotDARTSimu::collision_masks (\n size_t robot_index,\n const std::string & body_name\n) \nstd::pair< uint32_t, uint32_t > robot_dart::RobotDARTSimu::collision_masks (\n size_t robot_index,\n size_t body_index\n) \ninline int robot_dart::RobotDARTSimu::control_freq () const\nvoid robot_dart::RobotDARTSimu::enable_status_bar (\n bool enable=true,\n double font_size=-1\n) \nvoid robot_dart::RobotDARTSimu::enable_text_panel (\n bool enable=true,\n double font_size=-1\n) \nstd::shared_ptr< gui::Base > robot_dart::RobotDARTSimu::graphics () const\ninline int robot_dart::RobotDARTSimu::graphics_freq () const\nEigen::Vector3d robot_dart::RobotDARTSimu::gravity () const\nsimu::GUIData * robot_dart::RobotDARTSimu::gui_data () \nbool robot_dart::RobotDARTSimu::halted_sim () const\nsize_t robot_dart::RobotDARTSimu::num_robots () const\ninline int robot_dart::RobotDARTSimu::physics_freq () const\nvoid robot_dart::RobotDARTSimu::remove_all_collision_masks () \nvoid robot_dart::RobotDARTSimu::remove_collision_masks (\n size_t robot_index\n) \nvoid robot_dart::RobotDARTSimu::remove_collision_masks (\n size_t robot_index,\n const std::string & body_name\n) \nvoid robot_dart::RobotDARTSimu::remove_collision_masks (\n size_t robot_index,\n size_t body_index\n) \nvoid robot_dart::RobotDARTSimu::remove_robot (\n const robot_t & robot\n) \nvoid robot_dart::RobotDARTSimu::remove_robot (\n size_t index\n) \nvoid robot_dart::RobotDARTSimu::remove_sensor (\n const std::shared_ptr< sensor::Sensor > & sensor\n) \nvoid robot_dart::RobotDARTSimu::remove_sensor (\n size_t index\n) \nvoid robot_dart::RobotDARTSimu::remove_sensors (\n const std::string & type\n) \nrobot_t robot_dart::RobotDARTSimu::robot (\n size_t index\n) const\nint robot_dart::RobotDARTSimu::robot_index (\n const robot_t & robot\n) const\nconst std::vector< robot_t > & robot_dart::RobotDARTSimu::robots () const\nvoid robot_dart::RobotDARTSimu::run (\n double max_duration=5.0,\n bool reset_commands=false,\n bool force_position_bounds=true\n) \ninline bool robot_dart::RobotDARTSimu::schedule (\n int freq\n) \ninline Scheduler & robot_dart::RobotDARTSimu::scheduler () \ninline const Scheduler & robot_dart::RobotDARTSimu::scheduler () const\nstd::shared_ptr< sensor::Sensor > robot_dart::RobotDARTSimu::sensor (\n size_t index\n) const\nstd::vector< std::shared_ptr< sensor::Sensor > > robot_dart::RobotDARTSimu::sensors () const\nvoid robot_dart::RobotDARTSimu::set_collision_detector (\n const std::string & collision_detector\n) \nvoid robot_dart::RobotDARTSimu::set_collision_masks (\n size_t robot_index,\n uint32_t category_mask,\n uint32_t collision_mask\n) \nvoid robot_dart::RobotDARTSimu::set_collision_masks (\n size_t robot_index,\n const std::string & body_name,\n uint32_t category_mask,\n uint32_t collision_mask\n) \nvoid robot_dart::RobotDARTSimu::set_collision_masks (\n size_t robot_index,\n size_t body_index,\n uint32_t category_mask,\n uint32_t collision_mask\n) \ninline void robot_dart::RobotDARTSimu::set_control_freq (\n int frequency\n) \nvoid robot_dart::RobotDARTSimu::set_graphics (\n const std::shared_ptr< gui::Base > & graphics\n) \ninline void robot_dart::RobotDARTSimu::set_graphics_freq (\n int frequency\n) \nvoid robot_dart::RobotDARTSimu::set_gravity (\n const Eigen::Vector3d & gravity\n) \nvoid robot_dart::RobotDARTSimu::set_text_panel (\n const std::string & str\n) \nvoid robot_dart::RobotDARTSimu::set_timestep (\n double timestep,\n bool update_control_freq=true\n) \nstd::string robot_dart::RobotDARTSimu::status_bar_text () const\nbool robot_dart::RobotDARTSimu::step (\n bool reset_commands=false,\n bool force_position_bounds=true\n) \nbool robot_dart::RobotDARTSimu::step_world (\n bool reset_commands=false,\n bool force_position_bounds=true\n) \nvoid robot_dart::RobotDARTSimu::stop_sim (\n bool disable=true\n) \nstd::string robot_dart::RobotDARTSimu::text_panel_text () const\ndouble robot_dart::RobotDARTSimu::timestep () const\ndart::simulation::WorldPtr robot_dart::RobotDARTSimu::world () \nrobot_dart::RobotDARTSimu::~RobotDARTSimu () \nbool robot_dart::RobotDARTSimu::_break;\nint robot_dart::RobotDARTSimu::_control_freq;\nstd::shared_ptr<gui::Base> robot_dart::RobotDARTSimu::_graphics;\nint robot_dart::RobotDARTSimu::_graphics_freq;\nstd::unique_ptr<simu::GUIData> robot_dart::RobotDARTSimu::_gui_data;\nsize_t robot_dart::RobotDARTSimu::_old_index;\nint robot_dart::RobotDARTSimu::_physics_freq;\nstd::vector<robot_t> robot_dart::RobotDARTSimu::_robots;\nScheduler robot_dart::RobotDARTSimu::_scheduler;\nstd::vector<std::shared_ptr<sensor::Sensor> > robot_dart::RobotDARTSimu::_sensors;\nstd::shared_ptr<simu::TextData> robot_dart::RobotDARTSimu::_status_bar;\nstd::shared_ptr<simu::TextData> robot_dart::RobotDARTSimu::_text_panel;\ndart::simulation::WorldPtr robot_dart::RobotDARTSimu::_world;\nvoid robot_dart::RobotDARTSimu::_enable (\n std::shared_ptr< simu::TextData > & text,\n bool enable,\n double font_size\n) \nThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.hpp
ClassList > robot_dart > RobotPool
"},{"location":"api/classrobot__dart_1_1RobotPool/#public-types","title":"Public Types","text":"Type Name typedef std::function< std::shared_ptr< Robot >()> robot_creator_t"},{"location":"api/classrobot__dart_1_1RobotPool/#public-functions","title":"Public Functions","text":"Type Name RobotPool (const robot_creator_t & robot_creator, size_t pool_size=32, bool verbose=true) RobotPool (const RobotPool &) = delete virtual void free_robot (const std::shared_ptr< Robot > & robot) virtual std::shared_ptr< Robot > get_robot (const std::string & name=\"robot\") const std::string & model_filename () const void operator= (const RobotPool &) = delete virtual ~RobotPool ()"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-attributes","title":"Protected Attributes","text":"Type Name std::vector< bool > _free std::string _model_filename size_t _pool_size robot_creator_t _robot_creator std::mutex _skeleton_mutex std::vector< dart::dynamics::SkeletonPtr > _skeletons bool _verbose"},{"location":"api/classrobot__dart_1_1RobotPool/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _reset_robot (const std::shared_ptr< Robot > & robot)"},{"location":"api/classrobot__dart_1_1RobotPool/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1RobotPool/#typedef-robot_creator_t","title":"typedef robot_creator_t","text":"using robot_dart::RobotPool::robot_creator_t = std::function<std::shared_ptr<Robot>()>;\nrobot_dart::RobotPool::RobotPool (\n const robot_creator_t & robot_creator,\n size_t pool_size=32,\n bool verbose=true\n) \nrobot_dart::RobotPool::RobotPool (\n const RobotPool &\n) = delete\nvirtual void robot_dart::RobotPool::free_robot (\n const std::shared_ptr< Robot > & robot\n) \nvirtual std::shared_ptr< Robot > robot_dart::RobotPool::get_robot (\n const std::string & name=\"robot\"\n) \ninline const std::string & robot_dart::RobotPool::model_filename () const\nvoid robot_dart::RobotPool::operator= (\n const RobotPool &\n) = delete\ninline virtual robot_dart::RobotPool::~RobotPool () \nstd::vector<bool> robot_dart::RobotPool::_free;\nstd::string robot_dart::RobotPool::_model_filename;\nsize_t robot_dart::RobotPool::_pool_size;\nrobot_creator_t robot_dart::RobotPool::_robot_creator;\nstd::mutex robot_dart::RobotPool::_skeleton_mutex;\nstd::vector<dart::dynamics::SkeletonPtr> robot_dart::RobotPool::_skeletons;\nbool robot_dart::RobotPool::_verbose;\nvirtual void robot_dart::RobotPool::_reset_robot (\n const std::shared_ptr< Robot > & robot\n) \nThe documentation for this class was generated from the following file robot_dart/robot_pool.hpp
ClassList > robot_dart > Scheduler
"},{"location":"api/classrobot__dart_1_1Scheduler/#public-functions","title":"Public Functions","text":"Type Name Scheduler (double dt, bool sync=false) double current_time () constcurrent time according to the simulation (simulation clock) double dt () constdt used by the simulation (simulation clock) double it_duration () const double last_it_duration () const double next_time () constnext time according to the simulation (simulation clock) bool operator() (int frequency) double real_time () consttime according to the clock's computer (wall clock) double real_time_factor () const void reset (double dt, bool sync=false, double current_time=0., double real_time=0.) bool schedule (int frequency) void set_sync (bool enable) double step () bool sync () const"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-types","title":"Protected Types","text":"Type Name typedef std::chrono::high_resolution_clock clock_t"},{"location":"api/classrobot__dart_1_1Scheduler/#protected-attributes","title":"Protected Attributes","text":"Type Name double _average_it_duration = = 0. int _current_step = = 0 double _current_time = = 0. double _dt double _it_duration = = 0. clock_t::time_point _last_iteration_time int _max_frequency = = -1 double _real_start_time = = 0. double _real_time = = 0. double _simu_start_time = = 0. clock_t::time_point _start_time bool _sync"},{"location":"api/classrobot__dart_1_1Scheduler/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1Scheduler/#function-scheduler","title":"function Scheduler","text":"inline robot_dart::Scheduler::Scheduler (\n double dt,\n bool sync=false\n) \ninline double robot_dart::Scheduler::current_time () const\ninline double robot_dart::Scheduler::dt () const\ninline double robot_dart::Scheduler::it_duration () const\ninline double robot_dart::Scheduler::last_it_duration () const\ninline double robot_dart::Scheduler::next_time () const\ninline bool robot_dart::Scheduler::operator() (\n int frequency\n) \ninline double robot_dart::Scheduler::real_time () const\ninline double robot_dart::Scheduler::real_time_factor () const\nvoid robot_dart::Scheduler::reset (\n double dt,\n bool sync=false,\n double current_time=0.,\n double real_time=0.\n) \nbool robot_dart::Scheduler::schedule (\n int frequency\n) \ninline void robot_dart::Scheduler::set_sync (\n bool enable\n) \nsynchronize the simulation clock with the wall clock (when possible, i.e. when the simulation is faster than real time)
"},{"location":"api/classrobot__dart_1_1Scheduler/#function-step","title":"function step","text":"double robot_dart::Scheduler::step () \ncall this at the end of the loop (see examples) this will synchronize with real time if requested and increase the counter; returns the real-time (in seconds)
"},{"location":"api/classrobot__dart_1_1Scheduler/#function-sync","title":"function sync","text":"inline bool robot_dart::Scheduler::sync () const\nusing robot_dart::Scheduler::clock_t = std::chrono::high_resolution_clock;\ndouble robot_dart::Scheduler::_average_it_duration;\nint robot_dart::Scheduler::_current_step;\ndouble robot_dart::Scheduler::_current_time;\ndouble robot_dart::Scheduler::_dt;\ndouble robot_dart::Scheduler::_it_duration;\nclock_t::time_point robot_dart::Scheduler::_last_iteration_time;\nint robot_dart::Scheduler::_max_frequency;\ndouble robot_dart::Scheduler::_real_start_time;\ndouble robot_dart::Scheduler::_real_time;\ndouble robot_dart::Scheduler::_simu_start_time;\nclock_t::time_point robot_dart::Scheduler::_start_time;\nbool robot_dart::Scheduler::_sync;\nThe documentation for this class was generated from the following file robot_dart/scheduler.hpp
Namespace List > robot_dart > collision_filter
"},{"location":"api/namespacerobot__dart_1_1collision__filter/#classes","title":"Classes","text":"Type Name class BitmaskContactFilterThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.cpp
ClassList > robot_dart > collision_filter > BitmaskContactFilter
Inherits the following classes: dart::BodyNodeCollisionFilter
"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#classes","title":"Classes","text":"Type Name struct Masks"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-types","title":"Public Types","text":"Type Name typedef const dart::CollisionObject * DartCollisionConstPtr typedef const dart::dynamics::ShapeNode * DartShapeConstPtr"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-functions","title":"Public Functions","text":"Type Name void add_to_map (DartShapeConstPtr shape, uint32_t col_mask, uint32_t cat_mask) void add_to_map (dart::dynamics::SkeletonPtr skel, uint32_t col_mask, uint32_t cat_mask) void clear_all () bool ignoresCollision (DartCollisionConstPtr object1, DartCollisionConstPtr object2) override const Masks mask (DartShapeConstPtr shape) const void remove_from_map (DartShapeConstPtr shape) void remove_from_map (dart::dynamics::SkeletonPtr skel) virtual ~BitmaskContactFilter () = default"},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1collision__filter_1_1BitmaskContactFilter/#typedef-dartcollisionconstptr","title":"typedef DartCollisionConstPtr","text":"using robot_dart::collision_filter::BitmaskContactFilter::DartCollisionConstPtr = const dart::collision::CollisionObject*;\nusing robot_dart::collision_filter::BitmaskContactFilter::DartShapeConstPtr = const dart::dynamics::ShapeNode*;\ninline void robot_dart::collision_filter::BitmaskContactFilter::add_to_map (\n DartShapeConstPtr shape,\n uint32_t col_mask,\n uint32_t cat_mask\n) \ninline void robot_dart::collision_filter::BitmaskContactFilter::add_to_map (\n dart::dynamics::SkeletonPtr skel,\n uint32_t col_mask,\n uint32_t cat_mask\n) \ninline void robot_dart::collision_filter::BitmaskContactFilter::clear_all () \ninline bool robot_dart::collision_filter::BitmaskContactFilter::ignoresCollision (\n DartCollisionConstPtr object1,\n DartCollisionConstPtr object2\n) override const\ninline Masks robot_dart::collision_filter::BitmaskContactFilter::mask (\n DartShapeConstPtr shape\n) const\ninline void robot_dart::collision_filter::BitmaskContactFilter::remove_from_map (\n DartShapeConstPtr shape\n) \ninline void robot_dart::collision_filter::BitmaskContactFilter::remove_from_map (\n dart::dynamics::SkeletonPtr skel\n) \nvirtual robot_dart::collision_filter::BitmaskContactFilter::~BitmaskContactFilter () = default\nThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.cpp
ClassList > robot_dart > collision_filter > BitmaskContactFilter > Masks
"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#public-attributes","title":"Public Attributes","text":"Type Name uint32_t category_mask = = 0xffffffff uint32_t collision_mask = = 0xffffffff"},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1collision__filter_1_1BitmaskContactFilter_1_1Masks/#variable-category_mask","title":"variable category_mask","text":"uint32_t robot_dart::collision_filter::BitmaskContactFilter::Masks::category_mask;\nuint32_t robot_dart::collision_filter::BitmaskContactFilter::Masks::collision_mask;\nThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.cpp
Namespace List > robot_dart > control
"},{"location":"api/namespacerobot__dart_1_1control/#classes","title":"Classes","text":"Type Name class PDControl class PolicyControl <typename Policy> class RobotControl class SimpleControlThe documentation for this class was generated from the following file robot_dart/control/pd_control.cpp
ClassList > robot_dart > control > PDControl
Inherits the following classes: robot_dart::control::RobotControl
"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions","title":"Public Functions","text":"Type Name PDControl () PDControl (const Eigen::VectorXd & ctrl, bool full_control=false, bool use_angular_errors=true) PDControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs, bool use_angular_errors=true) virtual Eigen::VectorXd calculate (double) override virtual std::shared_ptr< RobotControl > clone () override const virtual void configure () override std::pair< Eigen::VectorXd, Eigen::VectorXd > pd () const void set_pd (double p, double d) void set_pd (const Eigen::VectorXd & p, const Eigen::VectorXd & d) void set_use_angular_errors (bool enable=true) bool using_angular_errors () const"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name RobotControl () RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false) RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) void activate (bool enable=true) bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr< RobotControl > clone () const = 0 virtual void configure () = 0 const std::vector< std::string > & controllable_dofs () const void init () const Eigen::VectorXd & parameters () const std::shared_ptr< Robot > robot () const void set_parameters (const Eigen::VectorXd & ctrl) void set_robot (const std::shared_ptr< Robot > & robot) void set_weight (double weight) double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::VectorXd _Kd Eigen::VectorXd _Kp bool _use_angular_errors"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name bool _active bool _check_free = = false int _control_dof std::vector< std::string > _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr< Robot > _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#protected-static-functions","title":"Protected Static Functions","text":"Type Name double _angle_dist (double target, double current)"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pdcontrol-13","title":"function PDControl [\u2153]","text":"robot_dart::control::PDControl::PDControl () \nrobot_dart::control::PDControl::PDControl (\n const Eigen::VectorXd & ctrl,\n bool full_control=false,\n bool use_angular_errors=true\n) \nrobot_dart::control::PDControl::PDControl (\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs,\n bool use_angular_errors=true\n) \nvirtual Eigen::VectorXd robot_dart::control::PDControl::calculate (\n double\n) override\nImplements robot_dart::control::RobotControl::calculate
"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-clone","title":"function clone","text":"virtual std::shared_ptr< RobotControl > robot_dart::control::PDControl::clone () override const\nImplements robot_dart::control::RobotControl::clone
"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-configure","title":"function configure","text":"virtual void robot_dart::control::PDControl::configure () override\nImplements robot_dart::control::RobotControl::configure
"},{"location":"api/classrobot__dart_1_1control_1_1PDControl/#function-pd","title":"function pd","text":"std::pair< Eigen::VectorXd, Eigen::VectorXd > robot_dart::control::PDControl::pd () const\nvoid robot_dart::control::PDControl::set_pd (\n double p,\n double d\n) \nvoid robot_dart::control::PDControl::set_pd (\n const Eigen::VectorXd & p,\n const Eigen::VectorXd & d\n) \nvoid robot_dart::control::PDControl::set_use_angular_errors (\n bool enable=true\n) \nbool robot_dart::control::PDControl::using_angular_errors () const\nEigen::VectorXd robot_dart::control::PDControl::_Kd;\nEigen::VectorXd robot_dart::control::PDControl::_Kp;\nbool robot_dart::control::PDControl::_use_angular_errors;\nstatic double robot_dart::control::PDControl::_angle_dist (\n double target,\n double current\n) \nThe documentation for this class was generated from the following file robot_dart/control/pd_control.hpp
template <typename Policy>
ClassList > robot_dart > control > PolicyControl
Inherits the following classes: robot_dart::control::RobotControl
"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions","title":"Public Functions","text":"Type Name PolicyControl () PolicyControl (double dt, const Eigen::VectorXd & ctrl, bool full_control=false) PolicyControl (const Eigen::VectorXd & ctrl, bool full_control=false) PolicyControl (double dt, const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) PolicyControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) virtual Eigen::VectorXd calculate (double t) override virtual std::shared_ptr< RobotControl > clone () override const virtual void configure () override Eigen::VectorXd h_params () const void set_h_params (const Eigen::VectorXd & h_params)"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name RobotControl () RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false) RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) void activate (bool enable=true) bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr< RobotControl > clone () const = 0 virtual void configure () = 0 const std::vector< std::string > & controllable_dofs () const void init () const Eigen::VectorXd & parameters () const std::shared_ptr< Robot > robot () const void set_parameters (const Eigen::VectorXd & ctrl) void set_robot (const std::shared_ptr< Robot > & robot) void set_weight (double weight) double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes","title":"Protected Attributes","text":"Type Name double _dt bool _first bool _full_dt int _i Policy _policy Eigen::VectorXd _prev_commands double _prev_time double _threshold"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name bool _active bool _check_free = = false int _control_dof std::vector< std::string > _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr< Robot > _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-policycontrol-15","title":"function PolicyControl [\u2155]","text":"inline robot_dart::control::PolicyControl::PolicyControl () \ninline robot_dart::control::PolicyControl::PolicyControl (\n double dt,\n const Eigen::VectorXd & ctrl,\n bool full_control=false\n) \ninline robot_dart::control::PolicyControl::PolicyControl (\n const Eigen::VectorXd & ctrl,\n bool full_control=false\n) \ninline robot_dart::control::PolicyControl::PolicyControl (\n double dt,\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs\n) \ninline robot_dart::control::PolicyControl::PolicyControl (\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs\n) \ninline virtual Eigen::VectorXd robot_dart::control::PolicyControl::calculate (\n double t\n) override\nImplements robot_dart::control::RobotControl::calculate
"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-clone","title":"function clone","text":"inline virtual std::shared_ptr< RobotControl > robot_dart::control::PolicyControl::clone () override const\nImplements robot_dart::control::RobotControl::clone
"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-configure","title":"function configure","text":"inline virtual void robot_dart::control::PolicyControl::configure () override\nImplements robot_dart::control::RobotControl::configure
"},{"location":"api/classrobot__dart_1_1control_1_1PolicyControl/#function-h_params","title":"function h_params","text":"inline Eigen::VectorXd robot_dart::control::PolicyControl::h_params () const\ninline void robot_dart::control::PolicyControl::set_h_params (\n const Eigen::VectorXd & h_params\n) \ndouble robot_dart::control::PolicyControl< Policy >::_dt;\nbool robot_dart::control::PolicyControl< Policy >::_first;\nbool robot_dart::control::PolicyControl< Policy >::_full_dt;\nint robot_dart::control::PolicyControl< Policy >::_i;\nPolicy robot_dart::control::PolicyControl< Policy >::_policy;\nEigen::VectorXd robot_dart::control::PolicyControl< Policy >::_prev_commands;\ndouble robot_dart::control::PolicyControl< Policy >::_prev_time;\ndouble robot_dart::control::PolicyControl< Policy >::_threshold;\nThe documentation for this class was generated from the following file robot_dart/control/policy_control.hpp
ClassList > robot_dart > control > RobotControl
Inherited by the following classes: robot_dart::control::PDControl, robot_dart::control::PolicyControl, robot_dart::control::SimpleControl
"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#public-functions","title":"Public Functions","text":"Type Name RobotControl () RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false) RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) void activate (bool enable=true) bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr< RobotControl > clone () const = 0 virtual void configure () = 0 const std::vector< std::string > & controllable_dofs () const void init () const Eigen::VectorXd & parameters () const std::shared_ptr< Robot > robot () const void set_parameters (const Eigen::VectorXd & ctrl) void set_robot (const std::shared_ptr< Robot > & robot) void set_weight (double weight) double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _active bool _check_free = = false int _control_dof std::vector< std::string > _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr< Robot > _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1RobotControl/#function-robotcontrol-13","title":"function RobotControl [\u2153]","text":"robot_dart::control::RobotControl::RobotControl () \nrobot_dart::control::RobotControl::RobotControl (\n const Eigen::VectorXd & ctrl,\n bool full_control=false\n) \nrobot_dart::control::RobotControl::RobotControl (\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs\n) \nvoid robot_dart::control::RobotControl::activate (\n bool enable=true\n) \nbool robot_dart::control::RobotControl::active () const\nvirtual Eigen::VectorXd robot_dart::control::RobotControl::calculate (\n double t\n) = 0\nvirtual std::shared_ptr< RobotControl > robot_dart::control::RobotControl::clone () const = 0\nvirtual void robot_dart::control::RobotControl::configure () = 0\nconst std::vector< std::string > & robot_dart::control::RobotControl::controllable_dofs () const\nvoid robot_dart::control::RobotControl::init () \nconst Eigen::VectorXd & robot_dart::control::RobotControl::parameters () const\nstd::shared_ptr< Robot > robot_dart::control::RobotControl::robot () const\nvoid robot_dart::control::RobotControl::set_parameters (\n const Eigen::VectorXd & ctrl\n) \nvoid robot_dart::control::RobotControl::set_robot (\n const std::shared_ptr< Robot > & robot\n) \nvoid robot_dart::control::RobotControl::set_weight (\n double weight\n) \ndouble robot_dart::control::RobotControl::weight () const\ninline virtual robot_dart::control::RobotControl::~RobotControl () \nbool robot_dart::control::RobotControl::_active;\nbool robot_dart::control::RobotControl::_check_free;\nint robot_dart::control::RobotControl::_control_dof;\nstd::vector<std::string> robot_dart::control::RobotControl::_controllable_dofs;\nEigen::VectorXd robot_dart::control::RobotControl::_ctrl;\nint robot_dart::control::RobotControl::_dof;\nstd::weak_ptr<Robot> robot_dart::control::RobotControl::_robot;\ndouble robot_dart::control::RobotControl::_weight;\nThe documentation for this class was generated from the following file robot_dart/control/robot_control.hpp
ClassList > robot_dart > control > SimpleControl
Inherits the following classes: robot_dart::control::RobotControl
"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions","title":"Public Functions","text":"Type Name SimpleControl () SimpleControl (const Eigen::VectorXd & ctrl, bool full_control=false) SimpleControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) virtual Eigen::VectorXd calculate (double) override virtual std::shared_ptr< RobotControl > clone () override const virtual void configure () override"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions-inherited-from-robot_dartcontrolrobotcontrol","title":"Public Functions inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name RobotControl () RobotControl (const Eigen::VectorXd & ctrl, bool full_control=false) RobotControl (const Eigen::VectorXd & ctrl, const std::vector< std::string > & controllable_dofs) void activate (bool enable=true) bool active () const virtual Eigen::VectorXd calculate (double t) = 0 virtual std::shared_ptr< RobotControl > clone () const = 0 virtual void configure () = 0 const std::vector< std::string > & controllable_dofs () const void init () const Eigen::VectorXd & parameters () const std::shared_ptr< Robot > robot () const void set_parameters (const Eigen::VectorXd & ctrl) void set_robot (const std::shared_ptr< Robot > & robot) void set_weight (double weight) double weight () const virtual ~RobotControl ()"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#protected-attributes-inherited-from-robot_dartcontrolrobotcontrol","title":"Protected Attributes inherited from robot_dart::control::RobotControl","text":"See robot_dart::control::RobotControl
Type Name bool _active bool _check_free = = false int _control_dof std::vector< std::string > _controllable_dofs Eigen::VectorXd _ctrl int _dof std::weak_ptr< Robot > _robot double _weight"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-simplecontrol-13","title":"function SimpleControl [\u2153]","text":"robot_dart::control::SimpleControl::SimpleControl () \nrobot_dart::control::SimpleControl::SimpleControl (\n const Eigen::VectorXd & ctrl,\n bool full_control=false\n) \nrobot_dart::control::SimpleControl::SimpleControl (\n const Eigen::VectorXd & ctrl,\n const std::vector< std::string > & controllable_dofs\n) \nvirtual Eigen::VectorXd robot_dart::control::SimpleControl::calculate (\n double\n) override\nImplements robot_dart::control::RobotControl::calculate
"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-clone","title":"function clone","text":"virtual std::shared_ptr< RobotControl > robot_dart::control::SimpleControl::clone () override const\nImplements robot_dart::control::RobotControl::clone
"},{"location":"api/classrobot__dart_1_1control_1_1SimpleControl/#function-configure","title":"function configure","text":"virtual void robot_dart::control::SimpleControl::configure () override\nImplements robot_dart::control::RobotControl::configure
The documentation for this class was generated from the following file robot_dart/control/simple_control.hpp
Namespace List > robot_dart > detail
"},{"location":"api/namespacerobot__dart_1_1detail/#public-functions","title":"Public Functions","text":"Type Name void add_dof_data (const Eigen::VectorXd & data, dart::dynamics::SkeletonPtr skeleton, const std::vector< std::string > & dof_names, const std::unordered_map< std::string, size_t > & dof_map) Eigen::VectorXd dof_data (dart::dynamics::SkeletonPtr skeleton, const std::vector< std::string > & dof_names, const std::unordered_map< std::string, size_t > & dof_map) void set_dof_data (const Eigen::VectorXd & data, dart::dynamics::SkeletonPtr skeleton, const std::vector< std::string > & dof_names, const std::unordered_map< std::string, size_t > & dof_map)"},{"location":"api/namespacerobot__dart_1_1detail/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1detail/#function-add_dof_data","title":"function add_dof_data","text":"template<int content>\nvoid robot_dart::detail::add_dof_data (\n const Eigen::VectorXd & data,\n dart::dynamics::SkeletonPtr skeleton,\n const std::vector< std::string > & dof_names,\n const std::unordered_map< std::string, size_t > & dof_map\n) \ntemplate<int content>\nEigen::VectorXd robot_dart::detail::dof_data (\n dart::dynamics::SkeletonPtr skeleton,\n const std::vector< std::string > & dof_names,\n const std::unordered_map< std::string, size_t > & dof_map\n) \ntemplate<int content>\nvoid robot_dart::detail::set_dof_data (\n const Eigen::VectorXd & data,\n dart::dynamics::SkeletonPtr skeleton,\n const std::vector< std::string > & dof_names,\n const std::unordered_map< std::string, size_t > & dof_map\n) \nThe documentation for this class was generated from the following file robot_dart/robot.cpp
Namespace List > robot_dart > gui
"},{"location":"api/namespacerobot__dart_1_1gui/#namespaces","title":"Namespaces","text":"Type Name namespace magnum"},{"location":"api/namespacerobot__dart_1_1gui/#classes","title":"Classes","text":"Type Name class Base struct DepthImage struct GrayscaleImage struct Image"},{"location":"api/namespacerobot__dart_1_1gui/#public-functions","title":"Public Functions","text":"Type Name GrayscaleImage convert_rgb_to_grayscale (const Image & rgb) std::vector< Eigen::Vector3d > point_cloud_from_depth_array (const DepthImage & depth_image, const Eigen::Matrix3d & intrinsic_matrix, const Eigen::Matrix4d & tf, double far_plane) void save_png_image (const std::string & filename, const Image & rgb) void save_png_image (const std::string & filename, const GrayscaleImage & gray)"},{"location":"api/namespacerobot__dart_1_1gui/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui/#function-convert_rgb_to_grayscale","title":"function convert_rgb_to_grayscale","text":"GrayscaleImage robot_dart::gui::convert_rgb_to_grayscale (\n const Image & rgb\n) \nstd::vector< Eigen::Vector3d > robot_dart::gui::point_cloud_from_depth_array (\n const DepthImage & depth_image,\n const Eigen::Matrix3d & intrinsic_matrix,\n const Eigen::Matrix4d & tf,\n double far_plane\n) \nvoid robot_dart::gui::save_png_image (\n const std::string & filename,\n const Image & rgb\n) \nvoid robot_dart::gui::save_png_image (\n const std::string & filename,\n const GrayscaleImage & gray\n) \nThe documentation for this class was generated from the following file robot_dart/gui/base.hpp
ClassList > robot_dart > gui > Base
Inherited by the following classes: robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::BaseGraphics, robot_dart::gui::magnum::BaseGraphics
"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#public-functions","title":"Public Functions","text":"Type Name Base () virtual DepthImage depth_array () virtual GrayscaleImage depth_image () virtual bool done () const virtual size_t height () const virtual Image image () virtual GrayscaleImage raw_depth_image () virtual void refresh () virtual void set_enable (bool) virtual void set_fps (int) virtual void set_render_period (double) virtual void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#protected-attributes","title":"Protected Attributes","text":"Type Name RobotDARTSimu * _simu = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1Base/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1Base/#function-base","title":"function Base","text":"inline robot_dart::gui::Base::Base () \ninline virtual DepthImage robot_dart::gui::Base::depth_array () \ninline virtual GrayscaleImage robot_dart::gui::Base::depth_image () \ninline virtual bool robot_dart::gui::Base::done () const\ninline virtual size_t robot_dart::gui::Base::height () const\ninline virtual Image robot_dart::gui::Base::image () \ninline virtual GrayscaleImage robot_dart::gui::Base::raw_depth_image () \ninline virtual void robot_dart::gui::Base::refresh () \ninline virtual void robot_dart::gui::Base::set_enable (\n bool\n) \ninline virtual void robot_dart::gui::Base::set_fps (\n int\n) \ninline virtual void robot_dart::gui::Base::set_render_period (\n double\n) \ninline virtual void robot_dart::gui::Base::set_simu (\n RobotDARTSimu * simu\n) \ninline const RobotDARTSimu * robot_dart::gui::Base::simu () const\ninline virtual size_t robot_dart::gui::Base::width () const\ninline virtual robot_dart::gui::Base::~Base () \nRobotDARTSimu* robot_dart::gui::Base::_simu;\nThe documentation for this class was generated from the following file robot_dart/gui/base.hpp
ClassList > robot_dart > gui > DepthImage
"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#public-attributes","title":"Public Attributes","text":"Type Name std::vector< double > data size_t height = = 0 size_t width = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1DepthImage/#variable-data","title":"variable data","text":"std::vector<double> robot_dart::gui::DepthImage::data;\nsize_t robot_dart::gui::DepthImage::height;\nsize_t robot_dart::gui::DepthImage::width;\nThe documentation for this class was generated from the following file robot_dart/gui/helper.hpp
ClassList > robot_dart > gui > GrayscaleImage
"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#public-attributes","title":"Public Attributes","text":"Type Name std::vector< uint8_t > data size_t height = = 0 size_t width = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1GrayscaleImage/#variable-data","title":"variable data","text":"std::vector<uint8_t> robot_dart::gui::GrayscaleImage::data;\nsize_t robot_dart::gui::GrayscaleImage::height;\nsize_t robot_dart::gui::GrayscaleImage::width;\nThe documentation for this class was generated from the following file robot_dart/gui/helper.hpp
ClassList > robot_dart > gui > Image
"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#public-attributes","title":"Public Attributes","text":"Type Name size_t channels = = 3 std::vector< uint8_t > data size_t height = = 0 size_t width = = 0"},{"location":"api/structrobot__dart_1_1gui_1_1Image/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1Image/#variable-channels","title":"variable channels","text":"size_t robot_dart::gui::Image::channels;\nstd::vector<uint8_t> robot_dart::gui::Image::data;\nsize_t robot_dart::gui::Image::height;\nsize_t robot_dart::gui::Image::width;\nThe documentation for this class was generated from the following file robot_dart/gui/helper.hpp
Namespace List > robot_dart > gui > magnum
"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#namespaces","title":"Namespaces","text":"Type Name namespace gs namespace sensor"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#classes","title":"Classes","text":"Type Name class BaseApplication class BaseGraphics <typename T> class CubeMapShadowedColorObject class CubeMapShadowedObject struct DebugDrawData class DrawableObject class GlfwApplication struct GlobalData class Graphics struct GraphicsConfiguration struct ObjectStruct struct ShadowData class ShadowedColorObject class ShadowedObject class WindowlessGLApplication class WindowlessGraphics"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-types","title":"Public Types","text":"Type Name typedef Magnum::SceneGraph::Camera3D Camera3D typedef Magnum::SceneGraph::Object< Magnum::SceneGraph::MatrixTransformation3D > Object3D typedef Magnum::SceneGraph::Scene< Magnum::SceneGraph::MatrixTransformation3D > Scene3D"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-functions","title":"Public Functions","text":"Type Name BaseApplication * make_application (RobotDARTSimu * simu, const GraphicsConfiguration & configuration=GraphicsConfiguration())"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum/#typedef-camera3d","title":"typedef Camera3D","text":"using robot_dart::gui::magnum::Camera3D = Magnum::SceneGraph::Camera3D;\nusing robot_dart::gui::magnum::Object3D = Magnum::SceneGraph::Object<Magnum::SceneGraph::MatrixTransformation3D>;\nusing robot_dart::gui::magnum::Scene3D = Magnum::SceneGraph::Scene<Magnum::SceneGraph::MatrixTransformation3D>;\ntemplate<typename T>\ninline BaseApplication * robot_dart::gui::magnum::make_application (\n RobotDARTSimu * simu,\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.cpp
ClassList > robot_dart > gui > magnum > BaseApplication
Inherited by the following classes: robot_dart::gui::magnum::GlfwApplication, robot_dart::gui::magnum::WindowlessGLApplication
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#public-functions","title":"Public Functions","text":"Type Name BaseApplication (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const gs::Light & light) bool attach_camera (gs::Camera & camera, dart::dynamics::BodyNode * body) gs::Camera & camera () const gs::Camera & camera () const void clear_lights () DebugDrawData debug_draw_data () DepthImage depth_array () GrayscaleImage depth_image () bool done () const Magnum::SceneGraph::DrawableGroup3D & drawables () void enable_shadows (bool enable=true, bool drawTransparentShadows=false) Corrade::Containers::Optional< Magnum::Image2D > & image () void init (RobotDARTSimu * simu, const GraphicsConfiguration & configuration) gs::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at, const Eigen::Vector3d & up) size_t num_lights () const GrayscaleImage raw_depth_image () void record_video (const std::string & video_fname, int fps) virtual void render () void render_shadows () Scene3D & scene () bool shadowed () const bool transparent_shadows () const void update_graphics () void update_lights (const gs::Camera & camera) virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name std::unique_ptr< Magnum::GL::Mesh > _3D_axis_mesh std::unique_ptr< Magnum::Shaders::VertexColorGL3D > _3D_axis_shader std::unique_ptr< Magnum::GL::Mesh > _background_mesh std::unique_ptr< Magnum::Shaders::FlatGL2D > _background_shader std::unique_ptr< gs::Camera > _camera std::unique_ptr< gs::PhongMultiLight > _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr< gs::CubeMapColor > _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr< gs::CubeMap > _cubemap_shader std::unique_ptr< gs::CubeMapColor > _cubemap_texture_color_shader std::unique_ptr< gs::CubeMap > _cubemap_texture_shader std::unique_ptr< Magnum::DartIntegration::World > _dart_world bool _done = = false std::unordered_map< Magnum::DartIntegration::Object *, ObjectStruct * > _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer< Magnum::Text::AbstractFont > _font Corrade::PluginManager::Manager< Magnum::Text::AbstractFont > _font_manager Corrade::Containers::Pointer< Magnum::Text::DistanceFieldGlyphCache > _glyph_cache Corrade::PluginManager::Manager< Magnum::Trade::AbstractImporter > _importer_manager std::vector< gs::Light > _lights int _max_lights = = 5 Scene3D _scene std::unique_ptr< Camera3D > _shadow_camera Object3D * _shadow_camera_object std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_color_cube_map std::unique_ptr< gs::ShadowMapColor > _shadow_color_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_color_texture std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_cube_map std::vector< ShadowData > _shadow_data int _shadow_map_size = = 512 std::unique_ptr< gs::ShadowMap > _shadow_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_texture std::unique_ptr< gs::ShadowMapColor > _shadow_texture_color_shader std::unique_ptr< gs::ShadowMap > _shadow_texture_shader bool _shadowed = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_indices std::unique_ptr< Magnum::Shaders::DistanceFieldVectorGL2D > _text_shader Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_vertices std::unique_ptr< gs::PhongMultiLight > _texture_shader int _transparentSize = = 0 bool _transparent_shadows = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#protected-functions","title":"Protected Functions","text":"Type Name void _gl_clean_up () void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseApplication/#function-baseapplication","title":"function BaseApplication","text":"robot_dart::gui::magnum::BaseApplication::BaseApplication (\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \nvoid robot_dart::gui::magnum::BaseApplication::add_light (\n const gs::Light & light\n) \nbool robot_dart::gui::magnum::BaseApplication::attach_camera (\n gs::Camera & camera,\n dart::dynamics::BodyNode * body\n) \ninline gs::Camera & robot_dart::gui::magnum::BaseApplication::camera () \ninline const gs::Camera & robot_dart::gui::magnum::BaseApplication::camera () const\nvoid robot_dart::gui::magnum::BaseApplication::clear_lights () \ninline DebugDrawData robot_dart::gui::magnum::BaseApplication::debug_draw_data () \nDepthImage robot_dart::gui::magnum::BaseApplication::depth_array () \nGrayscaleImage robot_dart::gui::magnum::BaseApplication::depth_image () \nbool robot_dart::gui::magnum::BaseApplication::done () const\ninline Magnum::SceneGraph::DrawableGroup3D & robot_dart::gui::magnum::BaseApplication::drawables () \nvoid robot_dart::gui::magnum::BaseApplication::enable_shadows (\n bool enable=true,\n bool drawTransparentShadows=false\n) \ninline Corrade::Containers::Optional< Magnum::Image2D > & robot_dart::gui::magnum::BaseApplication::image () \nvoid robot_dart::gui::magnum::BaseApplication::init (\n RobotDARTSimu * simu,\n const GraphicsConfiguration & configuration\n) \ngs::Light & robot_dart::gui::magnum::BaseApplication::light (\n size_t i\n) \nstd::vector< gs::Light > & robot_dart::gui::magnum::BaseApplication::lights () \nvoid robot_dart::gui::magnum::BaseApplication::look_at (\n const Eigen::Vector3d & camera_pos,\n const Eigen::Vector3d & look_at,\n const Eigen::Vector3d & up\n) \nsize_t robot_dart::gui::magnum::BaseApplication::num_lights () const\nGrayscaleImage robot_dart::gui::magnum::BaseApplication::raw_depth_image () \ninline void robot_dart::gui::magnum::BaseApplication::record_video (\n const std::string & video_fname,\n int fps\n) \ninline virtual void robot_dart::gui::magnum::BaseApplication::render () \nvoid robot_dart::gui::magnum::BaseApplication::render_shadows () \ninline Scene3D & robot_dart::gui::magnum::BaseApplication::scene () \ninline bool robot_dart::gui::magnum::BaseApplication::shadowed () const\ninline bool robot_dart::gui::magnum::BaseApplication::transparent_shadows () const\nvoid robot_dart::gui::magnum::BaseApplication::update_graphics () \nvoid robot_dart::gui::magnum::BaseApplication::update_lights (\n const gs::Camera & camera\n) \ninline virtual robot_dart::gui::magnum::BaseApplication::~BaseApplication () \nstd::unique_ptr<Magnum::GL::Mesh> robot_dart::gui::magnum::BaseApplication::_3D_axis_mesh;\nstd::unique_ptr<Magnum::Shaders::VertexColorGL3D> robot_dart::gui::magnum::BaseApplication::_3D_axis_shader;\nstd::unique_ptr<Magnum::GL::Mesh> robot_dart::gui::magnum::BaseApplication::_background_mesh;\nstd::unique_ptr<Magnum::Shaders::FlatGL2D> robot_dart::gui::magnum::BaseApplication::_background_shader;\nstd::unique_ptr<gs::Camera> robot_dart::gui::magnum::BaseApplication::_camera;\nstd::unique_ptr<gs::PhongMultiLight> robot_dart::gui::magnum::BaseApplication::_color_shader;\nGraphicsConfiguration robot_dart::gui::magnum::BaseApplication::_configuration;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_color_drawables;\nstd::unique_ptr<gs::CubeMapColor> robot_dart::gui::magnum::BaseApplication::_cubemap_color_shader;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_cubemap_drawables;\nstd::unique_ptr<gs::CubeMap> robot_dart::gui::magnum::BaseApplication::_cubemap_shader;\nstd::unique_ptr<gs::CubeMapColor> robot_dart::gui::magnum::BaseApplication::_cubemap_texture_color_shader;\nstd::unique_ptr<gs::CubeMap> robot_dart::gui::magnum::BaseApplication::_cubemap_texture_shader;\nstd::unique_ptr<Magnum::DartIntegration::World> robot_dart::gui::magnum::BaseApplication::_dart_world;\nbool robot_dart::gui::magnum::BaseApplication::_done;\nstd::unordered_map<Magnum::DartIntegration::Object*, ObjectStruct*> robot_dart::gui::magnum::BaseApplication::_drawable_objects;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_drawables;\nCorrade::Containers::Pointer<Magnum::Text::AbstractFont> robot_dart::gui::magnum::BaseApplication::_font;\nCorrade::PluginManager::Manager<Magnum::Text::AbstractFont> robot_dart::gui::magnum::BaseApplication::_font_manager;\nCorrade::Containers::Pointer<Magnum::Text::DistanceFieldGlyphCache> robot_dart::gui::magnum::BaseApplication::_glyph_cache;\nCorrade::PluginManager::Manager<Magnum::Trade::AbstractImporter> robot_dart::gui::magnum::BaseApplication::_importer_manager;\nstd::vector<gs::Light> robot_dart::gui::magnum::BaseApplication::_lights;\nint robot_dart::gui::magnum::BaseApplication::_max_lights;\nScene3D robot_dart::gui::magnum::BaseApplication::_scene;\nstd::unique_ptr<Camera3D> robot_dart::gui::magnum::BaseApplication::_shadow_camera;\nObject3D* robot_dart::gui::magnum::BaseApplication::_shadow_camera_object;\nstd::unique_ptr<Magnum::GL::CubeMapTextureArray> robot_dart::gui::magnum::BaseApplication::_shadow_color_cube_map;\nstd::unique_ptr<gs::ShadowMapColor> robot_dart::gui::magnum::BaseApplication::_shadow_color_shader;\nstd::unique_ptr<Magnum::GL::Texture2DArray> robot_dart::gui::magnum::BaseApplication::_shadow_color_texture;\nstd::unique_ptr<Magnum::GL::CubeMapTextureArray> robot_dart::gui::magnum::BaseApplication::_shadow_cube_map;\nstd::vector<ShadowData> robot_dart::gui::magnum::BaseApplication::_shadow_data;\nint robot_dart::gui::magnum::BaseApplication::_shadow_map_size;\nstd::unique_ptr<gs::ShadowMap> robot_dart::gui::magnum::BaseApplication::_shadow_shader;\nstd::unique_ptr<Magnum::GL::Texture2DArray> robot_dart::gui::magnum::BaseApplication::_shadow_texture;\nstd::unique_ptr<gs::ShadowMapColor> robot_dart::gui::magnum::BaseApplication::_shadow_texture_color_shader;\nstd::unique_ptr<gs::ShadowMap> robot_dart::gui::magnum::BaseApplication::_shadow_texture_shader;\nbool robot_dart::gui::magnum::BaseApplication::_shadowed;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_color_drawables;\nMagnum::SceneGraph::DrawableGroup3D robot_dart::gui::magnum::BaseApplication::_shadowed_drawables;\nRobotDARTSimu* robot_dart::gui::magnum::BaseApplication::_simu;\nCorrade::Containers::Pointer<Magnum::GL::Buffer> robot_dart::gui::magnum::BaseApplication::_text_indices;\nstd::unique_ptr<Magnum::Shaders::DistanceFieldVectorGL2D> robot_dart::gui::magnum::BaseApplication::_text_shader;\nCorrade::Containers::Pointer<Magnum::GL::Buffer> robot_dart::gui::magnum::BaseApplication::_text_vertices;\nstd::unique_ptr<gs::PhongMultiLight> robot_dart::gui::magnum::BaseApplication::_texture_shader;\nint robot_dart::gui::magnum::BaseApplication::_transparentSize;\nbool robot_dart::gui::magnum::BaseApplication::_transparent_shadows;\nvoid robot_dart::gui::magnum::BaseApplication::_gl_clean_up () \nvoid robot_dart::gui::magnum::BaseApplication::_prepare_shadows () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
template <typename T>
ClassList > robot_dart > gui > magnum > BaseGraphics
Inherits the following classes: robot_dart::gui::Base
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions","title":"Public Functions","text":"Type Name BaseGraphics (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const magnum::Light & light) gs::Camera & camera () const gs::Camera & camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights () virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true) virtual size_t height () override const virtual Image image () override magnum::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) BaseApplication * magnum_app () const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image () size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string & video_fname, int fps=-1) virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name Base () virtual DepthImage depth_array () virtual GrayscaleImage depth_image () virtual bool done () const virtual size_t height () const virtual Image image () virtual GrayscaleImage raw_depth_image () virtual void refresh () virtual void set_enable (bool) virtual void set_fps (int) virtual void set_render_period (double) virtual void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes","title":"Protected Attributes","text":"Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr< BaseApplication > _magnum_app Corrade::Utility::Debug _magnum_silence_output = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name RobotDARTSimu * _simu = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics","title":"function BaseGraphics","text":"inline robot_dart::gui::magnum::BaseGraphics::BaseGraphics (\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \ninline void robot_dart::gui::magnum::BaseGraphics::add_light (\n const magnum::gs::Light & light\n) \ninline gs::Camera & robot_dart::gui::magnum::BaseGraphics::camera () \ninline const gs::Camera & robot_dart::gui::magnum::BaseGraphics::camera () const\ninline Eigen::Matrix4d robot_dart::gui::magnum::BaseGraphics::camera_extrinsic_matrix () const\ninline Eigen::Matrix3d robot_dart::gui::magnum::BaseGraphics::camera_intrinsic_matrix () const\ninline void robot_dart::gui::magnum::BaseGraphics::clear_lights () \ninline virtual DepthImage robot_dart::gui::magnum::BaseGraphics::depth_array () override\nImplements robot_dart::gui::Base::depth_array
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-depth_image","title":"function depth_image","text":"inline virtual GrayscaleImage robot_dart::gui::magnum::BaseGraphics::depth_image () override\nImplements robot_dart::gui::Base::depth_image
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-done","title":"function done","text":"inline virtual bool robot_dart::gui::magnum::BaseGraphics::done () override const\nImplements robot_dart::gui::Base::done
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-enable_shadows","title":"function enable_shadows","text":"inline void robot_dart::gui::magnum::BaseGraphics::enable_shadows (\n bool enable=true,\n bool transparent=true\n) \ninline virtual size_t robot_dart::gui::magnum::BaseGraphics::height () override const\nImplements robot_dart::gui::Base::height
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-image","title":"function image","text":"inline virtual Image robot_dart::gui::magnum::BaseGraphics::image () override\nImplements robot_dart::gui::Base::image
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-light","title":"function light","text":"inline magnum::gs::Light & robot_dart::gui::magnum::BaseGraphics::light (\n size_t i\n) \ninline std::vector< gs::Light > & robot_dart::gui::magnum::BaseGraphics::lights () \ninline void robot_dart::gui::magnum::BaseGraphics::look_at (\n const Eigen::Vector3d & camera_pos,\n const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0),\n const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)\n) \ninline BaseApplication * robot_dart::gui::magnum::BaseGraphics::magnum_app () \ninline const BaseApplication * robot_dart::gui::magnum::BaseGraphics::magnum_app () const\ninline Magnum::Image2D * robot_dart::gui::magnum::BaseGraphics::magnum_image () \ninline size_t robot_dart::gui::magnum::BaseGraphics::num_lights () const\ninline virtual GrayscaleImage robot_dart::gui::magnum::BaseGraphics::raw_depth_image () override\nImplements robot_dart::gui::Base::raw_depth_image
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-record_video","title":"function record_video","text":"inline void robot_dart::gui::magnum::BaseGraphics::record_video (\n const std::string & video_fname,\n int fps=-1\n) \ninline virtual void robot_dart::gui::magnum::BaseGraphics::refresh () override\nImplements robot_dart::gui::Base::refresh
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_enable","title":"function set_enable","text":"inline virtual void robot_dart::gui::magnum::BaseGraphics::set_enable (\n bool enable\n) override\nImplements robot_dart::gui::Base::set_enable
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_fps","title":"function set_fps","text":"inline virtual void robot_dart::gui::magnum::BaseGraphics::set_fps (\n int fps\n) override\nImplements robot_dart::gui::Base::set_fps
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-set_simu","title":"function set_simu","text":"inline virtual void robot_dart::gui::magnum::BaseGraphics::set_simu (\n RobotDARTSimu * simu\n) override\nImplements robot_dart::gui::Base::set_simu
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-shadowed","title":"function shadowed","text":"inline bool robot_dart::gui::magnum::BaseGraphics::shadowed () const\ninline bool robot_dart::gui::magnum::BaseGraphics::transparent_shadows () const\ninline virtual size_t robot_dart::gui::magnum::BaseGraphics::width () override const\nImplements robot_dart::gui::Base::width
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1BaseGraphics/#function-basegraphics_1","title":"function ~BaseGraphics","text":"inline virtual robot_dart::gui::magnum::BaseGraphics::~BaseGraphics () \nGraphicsConfiguration robot_dart::gui::magnum::BaseGraphics< T >::_configuration;\nbool robot_dart::gui::magnum::BaseGraphics< T >::_enabled;\nint robot_dart::gui::magnum::BaseGraphics< T >::_fps;\nstd::unique_ptr<BaseApplication> robot_dart::gui::magnum::BaseGraphics< T >::_magnum_app;\nCorrade::Utility::Debug robot_dart::gui::magnum::BaseGraphics< T >::_magnum_silence_output;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_graphics.hpp
ClassList > robot_dart > gui > magnum > CubeMapShadowedColorObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#public-functions","title":"Public Functions","text":"Type Name CubeMapShadowedColorObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, gs::CubeMapColor & shader, gs::CubeMapColor & texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) CubeMapShadowedColorObject & set_materials (const std::vector< gs::Material > & materials) CubeMapShadowedColorObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) CubeMapShadowedColorObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedColorObject/#function-cubemapshadowedcolorobject","title":"function CubeMapShadowedColorObject","text":"explicit robot_dart::gui::magnum::CubeMapShadowedColorObject::CubeMapShadowedColorObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n gs::CubeMapColor & shader,\n gs::CubeMapColor & texture_shader,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \nCubeMapShadowedColorObject & robot_dart::gui::magnum::CubeMapShadowedColorObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nCubeMapShadowedColorObject & robot_dart::gui::magnum::CubeMapShadowedColorObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nCubeMapShadowedColorObject & robot_dart::gui::magnum::CubeMapShadowedColorObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::CubeMapShadowedColorObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::CubeMapShadowedColorObject::simu () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > CubeMapShadowedObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#public-functions","title":"Public Functions","text":"Type Name CubeMapShadowedObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, gs::CubeMap & shader, gs::CubeMap & texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) CubeMapShadowedObject & set_materials (const std::vector< gs::Material > & materials) CubeMapShadowedObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) CubeMapShadowedObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1CubeMapShadowedObject/#function-cubemapshadowedobject","title":"function CubeMapShadowedObject","text":"explicit robot_dart::gui::magnum::CubeMapShadowedObject::CubeMapShadowedObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n gs::CubeMap & shader,\n gs::CubeMap & texture_shader,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \nCubeMapShadowedObject & robot_dart::gui::magnum::CubeMapShadowedObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nCubeMapShadowedObject & robot_dart::gui::magnum::CubeMapShadowedObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nCubeMapShadowedObject & robot_dart::gui::magnum::CubeMapShadowedObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::CubeMapShadowedObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::CubeMapShadowedObject::simu () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > DebugDrawData
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#public-attributes","title":"Public Attributes","text":"Type Name Magnum::GL::Mesh * axes_mesh Magnum::Shaders::VertexColorGL3D * axes_shader Magnum::GL::Mesh * background_mesh Magnum::Shaders::FlatGL2D * background_shader Magnum::Text::DistanceFieldGlyphCache * cache Magnum::Text::AbstractFont * font Magnum::GL::Buffer * text_indices Magnum::Shaders::DistanceFieldVectorGL2D * text_shader Magnum::GL::Buffer * text_vertices"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1DebugDrawData/#variable-axes_mesh","title":"variable axes_mesh","text":"Magnum::GL::Mesh* robot_dart::gui::magnum::DebugDrawData::axes_mesh;\nMagnum::Shaders::VertexColorGL3D* robot_dart::gui::magnum::DebugDrawData::axes_shader;\nMagnum::GL::Mesh* robot_dart::gui::magnum::DebugDrawData::background_mesh;\nMagnum::Shaders::FlatGL2D* robot_dart::gui::magnum::DebugDrawData::background_shader;\nMagnum::Text::DistanceFieldGlyphCache* robot_dart::gui::magnum::DebugDrawData::cache;\nMagnum::Text::AbstractFont* robot_dart::gui::magnum::DebugDrawData::font;\nMagnum::GL::Buffer* robot_dart::gui::magnum::DebugDrawData::text_indices;\nMagnum::Shaders::DistanceFieldVectorGL2D* robot_dart::gui::magnum::DebugDrawData::text_shader;\nMagnum::GL::Buffer* robot_dart::gui::magnum::DebugDrawData::text_vertices;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
ClassList > robot_dart > gui > magnum > DrawableObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#public-functions","title":"Public Functions","text":"Type Name DrawableObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, const std::vector< gs::Material > & materials, gs::PhongMultiLight & color, gs::PhongMultiLight & texture, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) const std::vector< gs::Material > & materials () const DrawableObject & set_color_shader (std::reference_wrapper< gs::PhongMultiLight > shader) DrawableObject & set_materials (const std::vector< gs::Material > & materials) DrawableObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) DrawableObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) DrawableObject & set_soft_bodies (const std::vector< bool > & softBody) DrawableObject & set_texture_shader (std::reference_wrapper< gs::PhongMultiLight > shader) DrawableObject & set_transparent (bool transparent=true) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const bool transparent () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1DrawableObject/#function-drawableobject","title":"function DrawableObject","text":"explicit robot_dart::gui::magnum::DrawableObject::DrawableObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n const std::vector< gs::Material > & materials,\n gs::PhongMultiLight & color,\n gs::PhongMultiLight & texture,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \ninline const std::vector< gs::Material > & robot_dart::gui::magnum::DrawableObject::materials () const\nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_color_shader (\n std::reference_wrapper< gs::PhongMultiLight > shader\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_soft_bodies (\n const std::vector< bool > & softBody\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_texture_shader (\n std::reference_wrapper< gs::PhongMultiLight > shader\n) \nDrawableObject & robot_dart::gui::magnum::DrawableObject::set_transparent (\n bool transparent=true\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::DrawableObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::DrawableObject::simu () const\ninline bool robot_dart::gui::magnum::DrawableObject::transparent () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > GlfwApplication
Inherits the following classes: robot_dart::gui::magnum::BaseApplication, Magnum::Platform::Application
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions","title":"Public Functions","text":"Type Name GlfwApplication (int argc, char ** argv, RobotDARTSimu * simu, const GraphicsConfiguration & configuration=GraphicsConfiguration()) virtual void render () override ~GlfwApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Public Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name BaseApplication (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const gs::Light & light) bool attach_camera (gs::Camera & camera, dart::dynamics::BodyNode * body) gs::Camera & camera () const gs::Camera & camera () const void clear_lights () DebugDrawData debug_draw_data () DepthImage depth_array () GrayscaleImage depth_image () bool done () const Magnum::SceneGraph::DrawableGroup3D & drawables () void enable_shadows (bool enable=true, bool drawTransparentShadows=false) Corrade::Containers::Optional< Magnum::Image2D > & image () void init (RobotDARTSimu * simu, const GraphicsConfiguration & configuration) gs::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at, const Eigen::Vector3d & up) size_t num_lights () const GrayscaleImage raw_depth_image () void record_video (const std::string & video_fname, int fps) virtual void render () void render_shadows () Scene3D & scene () bool shadowed () const bool transparent_shadows () const void update_graphics () void update_lights (const gs::Camera & camera) virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _bg_color bool _draw_debug bool _draw_main_camera RobotDARTSimu * _simu Magnum::Float _speed_move Magnum::Float _speed_strafe"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-attributes-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name std::unique_ptr< Magnum::GL::Mesh > _3D_axis_mesh std::unique_ptr< Magnum::Shaders::VertexColorGL3D > _3D_axis_shader std::unique_ptr< Magnum::GL::Mesh > _background_mesh std::unique_ptr< Magnum::Shaders::FlatGL2D > _background_shader std::unique_ptr< gs::Camera > _camera std::unique_ptr< gs::PhongMultiLight > _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr< gs::CubeMapColor > _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr< gs::CubeMap > _cubemap_shader std::unique_ptr< gs::CubeMapColor > _cubemap_texture_color_shader std::unique_ptr< gs::CubeMap > _cubemap_texture_shader std::unique_ptr< Magnum::DartIntegration::World > _dart_world bool _done = = false std::unordered_map< Magnum::DartIntegration::Object *, ObjectStruct * > _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer< Magnum::Text::AbstractFont > _font Corrade::PluginManager::Manager< Magnum::Text::AbstractFont > _font_manager Corrade::Containers::Pointer< Magnum::Text::DistanceFieldGlyphCache > _glyph_cache Corrade::PluginManager::Manager< Magnum::Trade::AbstractImporter > _importer_manager std::vector< gs::Light > _lights int _max_lights = = 5 Scene3D _scene std::unique_ptr< Camera3D > _shadow_camera Object3D * _shadow_camera_object std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_color_cube_map std::unique_ptr< gs::ShadowMapColor > _shadow_color_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_color_texture std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_cube_map std::vector< ShadowData > _shadow_data int _shadow_map_size = = 512 std::unique_ptr< gs::ShadowMap > _shadow_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_texture std::unique_ptr< gs::ShadowMapColor > _shadow_texture_color_shader std::unique_ptr< gs::ShadowMap > _shadow_texture_shader bool _shadowed = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_indices std::unique_ptr< Magnum::Shaders::DistanceFieldVectorGL2D > _text_shader Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_vertices std::unique_ptr< gs::PhongMultiLight > _texture_shader int _transparentSize = = 0 bool _transparent_shadows = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-static-attributes","title":"Protected Static Attributes","text":"Type Name Magnum::Float _speed = = 0.05f"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions","title":"Protected Functions","text":"Type Name void drawEvent () override void exitEvent (ExitEvent & event) override virtual void keyPressEvent (KeyEvent & event) override virtual void keyReleaseEvent (KeyEvent & event) override virtual void mouseMoveEvent (MouseMoveEvent & event) override virtual void mouseScrollEvent (MouseScrollEvent & event) override void viewportEvent (ViewportEvent & event) override"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#protected-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name void _gl_clean_up () void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-glfwapplication","title":"function GlfwApplication","text":"explicit robot_dart::gui::magnum::GlfwApplication::GlfwApplication (\n int argc,\n char ** argv,\n RobotDARTSimu * simu,\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \nvirtual void robot_dart::gui::magnum::GlfwApplication::render () override\nImplements robot_dart::gui::magnum::BaseApplication::render
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1GlfwApplication/#function-glfwapplication_1","title":"function ~GlfwApplication","text":"robot_dart::gui::magnum::GlfwApplication::~GlfwApplication () \nMagnum::Color4 robot_dart::gui::magnum::GlfwApplication::_bg_color;\nbool robot_dart::gui::magnum::GlfwApplication::_draw_debug;\nbool robot_dart::gui::magnum::GlfwApplication::_draw_main_camera;\nRobotDARTSimu* robot_dart::gui::magnum::GlfwApplication::_simu;\nMagnum::Float robot_dart::gui::magnum::GlfwApplication::_speed_move;\nMagnum::Float robot_dart::gui::magnum::GlfwApplication::_speed_strafe;\nMagnum::Float robot_dart::gui::magnum::GlfwApplication::_speed;\nvoid robot_dart::gui::magnum::GlfwApplication::drawEvent () override\nvoid robot_dart::gui::magnum::GlfwApplication::exitEvent (\n ExitEvent & event\n) override\nvirtual void robot_dart::gui::magnum::GlfwApplication::keyPressEvent (\n KeyEvent & event\n) override\nvirtual void robot_dart::gui::magnum::GlfwApplication::keyReleaseEvent (\n KeyEvent & event\n) override\nvirtual void robot_dart::gui::magnum::GlfwApplication::mouseMoveEvent (\n MouseMoveEvent & event\n) override\nvirtual void robot_dart::gui::magnum::GlfwApplication::mouseScrollEvent (\n MouseScrollEvent & event\n) override\nvoid robot_dart::gui::magnum::GlfwApplication::viewportEvent (\n ViewportEvent & event\n) override\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/glfw_application.hpp
ClassList > robot_dart > gui > magnum > GlobalData
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-functions","title":"Public Functions","text":"Type Name GlobalData (const GlobalData &) = delete void free_gl_context (Magnum::Platform::WindowlessGLContext * context) Magnum::Platform::WindowlessGLContext * gl_context () void operator= (const GlobalData &) = delete void set_max_contexts (size_t N)"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-static-functions","title":"Public Static Functions","text":"Type Name GlobalData * instance ()"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GlobalData/#function-globaldata-12","title":"function GlobalData [\u00bd]","text":"robot_dart::gui::magnum::GlobalData::GlobalData (\n const GlobalData &\n) = delete\nvoid robot_dart::gui::magnum::GlobalData::free_gl_context (\n Magnum::Platform::WindowlessGLContext * context\n) \nMagnum::Platform::WindowlessGLContext * robot_dart::gui::magnum::GlobalData::gl_context () \nvoid robot_dart::gui::magnum::GlobalData::operator= (\n const GlobalData &\n) = delete\nvoid robot_dart::gui::magnum::GlobalData::set_max_contexts (\n size_t N\n) \nstatic inline GlobalData * robot_dart::gui::magnum::GlobalData::instance () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
ClassList > robot_dart > gui > magnum > Graphics
Inherits the following classes: robot_dart::gui::magnum::BaseGraphics
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions","title":"Public Functions","text":"Type Name Graphics (const GraphicsConfiguration & configuration=default_configuration()) virtual void set_simu (RobotDARTSimu * simu) override ~Graphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-inherited-from-robot_dartguimagnumbasegraphics","title":"Public Functions inherited from robot_dart::gui::magnum::BaseGraphics","text":"See robot_dart::gui::magnum::BaseGraphics
Type Name BaseGraphics (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const magnum::Light & light) gs::Camera & camera () const gs::Camera & camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights () virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true) virtual size_t height () override const virtual Image image () override magnum::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) BaseApplication * magnum_app () const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image () size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string & video_fname, int fps=-1) virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name Base () virtual DepthImage depth_array () virtual GrayscaleImage depth_image () virtual bool done () const virtual size_t height () const virtual Image image () virtual GrayscaleImage raw_depth_image () virtual void refresh () virtual void set_enable (bool) virtual void set_fps (int) virtual void set_render_period (double) virtual void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-static-functions","title":"Public Static Functions","text":"Type Name GraphicsConfiguration default_configuration ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#protected-attributes-inherited-from-robot_dartguimagnumbasegraphics","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseGraphics","text":"See robot_dart::gui::magnum::BaseGraphics
Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr< BaseApplication > _magnum_app Corrade::Utility::Debug _magnum_silence_output = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name RobotDARTSimu * _simu = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-graphics","title":"function Graphics","text":"inline robot_dart::gui::magnum::Graphics::Graphics (\n const GraphicsConfiguration & configuration=default_configuration()\n) \nvirtual void robot_dart::gui::magnum::Graphics::set_simu (\n RobotDARTSimu * simu\n) override\nImplements robot_dart::gui::magnum::BaseGraphics::set_simu
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1Graphics/#function-graphics_1","title":"function ~Graphics","text":"inline robot_dart::gui::magnum::Graphics::~Graphics () \nstatic GraphicsConfiguration robot_dart::gui::magnum::Graphics::default_configuration () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/graphics.hpp
ClassList > robot_dart > gui > magnum > GraphicsConfiguration
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#public-attributes","title":"Public Attributes","text":"Type Name Eigen::Vector4d bg_color = {0.0, 0.0, 0.0, 1.0} bool draw_debug = = true bool draw_main_camera = = true bool draw_text = = true size_t height = = 480 size_t max_lights = = 3 size_t shadow_map_size = = 1024 bool shadowed = = true double specular_strength = = 0.25 std::string title = = \"DART\" bool transparent_shadows = = true size_t width = = 640"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1GraphicsConfiguration/#variable-bg_color","title":"variable bg_color","text":"Eigen::Vector4d robot_dart::gui::magnum::GraphicsConfiguration::bg_color;\nbool robot_dart::gui::magnum::GraphicsConfiguration::draw_debug;\nbool robot_dart::gui::magnum::GraphicsConfiguration::draw_main_camera;\nbool robot_dart::gui::magnum::GraphicsConfiguration::draw_text;\nsize_t robot_dart::gui::magnum::GraphicsConfiguration::height;\nsize_t robot_dart::gui::magnum::GraphicsConfiguration::max_lights;\nsize_t robot_dart::gui::magnum::GraphicsConfiguration::shadow_map_size;\nbool robot_dart::gui::magnum::GraphicsConfiguration::shadowed;\ndouble robot_dart::gui::magnum::GraphicsConfiguration::specular_strength;\nstd::string robot_dart::gui::magnum::GraphicsConfiguration::title;\nbool robot_dart::gui::magnum::GraphicsConfiguration::transparent_shadows;\nsize_t robot_dart::gui::magnum::GraphicsConfiguration::width;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
ClassList > robot_dart > gui > magnum > ObjectStruct
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#public-attributes","title":"Public Attributes","text":"Type Name CubeMapShadowedObject * cubemapped CubeMapShadowedColorObject * cubemapped_color DrawableObject * drawable ShadowedObject * shadowed ShadowedColorObject * shadowed_color"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ObjectStruct/#variable-cubemapped","title":"variable cubemapped","text":"CubeMapShadowedObject* robot_dart::gui::magnum::ObjectStruct::cubemapped;\nCubeMapShadowedColorObject* robot_dart::gui::magnum::ObjectStruct::cubemapped_color;\nDrawableObject* robot_dart::gui::magnum::ObjectStruct::drawable;\nShadowedObject* robot_dart::gui::magnum::ObjectStruct::shadowed;\nShadowedColorObject* robot_dart::gui::magnum::ObjectStruct::shadowed_color;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > ShadowData
"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#public-attributes","title":"Public Attributes","text":"Type Name Magnum::GL::Framebuffer shadow_color_framebuffer = {Magnum::NoCreate} Magnum::GL::Framebuffer shadow_framebuffer = {Magnum::NoCreate}"},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1gui_1_1magnum_1_1ShadowData/#variable-shadow_color_framebuffer","title":"variable shadow_color_framebuffer","text":"Magnum::GL::Framebuffer robot_dart::gui::magnum::ShadowData::shadow_color_framebuffer;\nMagnum::GL::Framebuffer robot_dart::gui::magnum::ShadowData::shadow_framebuffer;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > ShadowedColorObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#public-functions","title":"Public Functions","text":"Type Name ShadowedColorObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, gs::ShadowMapColor & shader, gs::ShadowMapColor & texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) ShadowedColorObject & set_materials (const std::vector< gs::Material > & materials) ShadowedColorObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) ShadowedColorObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedColorObject/#function-shadowedcolorobject","title":"function ShadowedColorObject","text":"explicit robot_dart::gui::magnum::ShadowedColorObject::ShadowedColorObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n gs::ShadowMapColor & shader,\n gs::ShadowMapColor & texture_shader,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \nShadowedColorObject & robot_dart::gui::magnum::ShadowedColorObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nShadowedColorObject & robot_dart::gui::magnum::ShadowedColorObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nShadowedColorObject & robot_dart::gui::magnum::ShadowedColorObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::ShadowedColorObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::ShadowedColorObject::simu () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > ShadowedObject
Inherits the following classes: Object3D, Magnum::SceneGraph::Drawable3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#public-functions","title":"Public Functions","text":"Type Name ShadowedObject (RobotDARTSimu * simu, dart::dynamics::ShapeNode * shape, const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes, gs::ShadowMap & shader, gs::ShadowMap & texture_shader, Object3D * parent, Magnum::SceneGraph::DrawableGroup3D * group) ShadowedObject & set_materials (const std::vector< gs::Material > & materials) ShadowedObject & set_meshes (const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes) ShadowedObject & set_scalings (const std::vector< Magnum::Vector3 > & scalings) dart::dynamics::ShapeNode * shape () const RobotDARTSimu * simu () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1ShadowedObject/#function-shadowedobject","title":"function ShadowedObject","text":"explicit robot_dart::gui::magnum::ShadowedObject::ShadowedObject (\n RobotDARTSimu * simu,\n dart::dynamics::ShapeNode * shape,\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes,\n gs::ShadowMap & shader,\n gs::ShadowMap & texture_shader,\n Object3D * parent,\n Magnum::SceneGraph::DrawableGroup3D * group\n) \nShadowedObject & robot_dart::gui::magnum::ShadowedObject::set_materials (\n const std::vector< gs::Material > & materials\n) \nShadowedObject & robot_dart::gui::magnum::ShadowedObject::set_meshes (\n const std::vector< std::reference_wrapper< Magnum::GL::Mesh > > & meshes\n) \nShadowedObject & robot_dart::gui::magnum::ShadowedObject::set_scalings (\n const std::vector< Magnum::Vector3 > & scalings\n) \ninline dart::dynamics::ShapeNode * robot_dart::gui::magnum::ShadowedObject::shape () const\ninline RobotDARTSimu * robot_dart::gui::magnum::ShadowedObject::simu () const\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
ClassList > robot_dart > gui > magnum > WindowlessGLApplication
Inherits the following classes: robot_dart::gui::magnum::BaseApplication, Magnum::Platform::WindowlessApplication
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions","title":"Public Functions","text":"Type Name WindowlessGLApplication (int argc, char ** argv, RobotDARTSimu * simu, const GraphicsConfiguration & configuration=GraphicsConfiguration()) virtual void render () override ~WindowlessGLApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Public Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name BaseApplication (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const gs::Light & light) bool attach_camera (gs::Camera & camera, dart::dynamics::BodyNode * body) gs::Camera & camera () const gs::Camera & camera () const void clear_lights () DebugDrawData debug_draw_data () DepthImage depth_array () GrayscaleImage depth_image () bool done () const Magnum::SceneGraph::DrawableGroup3D & drawables () void enable_shadows (bool enable=true, bool drawTransparentShadows=false) Corrade::Containers::Optional< Magnum::Image2D > & image () void init (RobotDARTSimu * simu, const GraphicsConfiguration & configuration) gs::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at, const Eigen::Vector3d & up) size_t num_lights () const GrayscaleImage raw_depth_image () void record_video (const std::string & video_fname, int fps) virtual void render () void render_shadows () Scene3D & scene () bool shadowed () const bool transparent_shadows () const void update_graphics () void update_lights (const gs::Camera & camera) virtual ~BaseApplication ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _bg_color Magnum::GL::Renderbuffer _color = {Magnum::NoCreate} Magnum::GL::Renderbuffer _depth = {Magnum::NoCreate} bool _draw_debug bool _draw_main_camera Magnum::PixelFormat _format Magnum::GL::Framebuffer _framebuffer = {Magnum::NoCreate} RobotDARTSimu * _simu"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-attributes-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name std::unique_ptr< Magnum::GL::Mesh > _3D_axis_mesh std::unique_ptr< Magnum::Shaders::VertexColorGL3D > _3D_axis_shader std::unique_ptr< Magnum::GL::Mesh > _background_mesh std::unique_ptr< Magnum::Shaders::FlatGL2D > _background_shader std::unique_ptr< gs::Camera > _camera std::unique_ptr< gs::PhongMultiLight > _color_shader GraphicsConfiguration _configuration Magnum::SceneGraph::DrawableGroup3D _cubemap_color_drawables std::unique_ptr< gs::CubeMapColor > _cubemap_color_shader Magnum::SceneGraph::DrawableGroup3D _cubemap_drawables std::unique_ptr< gs::CubeMap > _cubemap_shader std::unique_ptr< gs::CubeMapColor > _cubemap_texture_color_shader std::unique_ptr< gs::CubeMap > _cubemap_texture_shader std::unique_ptr< Magnum::DartIntegration::World > _dart_world bool _done = = false std::unordered_map< Magnum::DartIntegration::Object *, ObjectStruct * > _drawable_objects Magnum::SceneGraph::DrawableGroup3D _drawables Corrade::Containers::Pointer< Magnum::Text::AbstractFont > _font Corrade::PluginManager::Manager< Magnum::Text::AbstractFont > _font_manager Corrade::Containers::Pointer< Magnum::Text::DistanceFieldGlyphCache > _glyph_cache Corrade::PluginManager::Manager< Magnum::Trade::AbstractImporter > _importer_manager std::vector< gs::Light > _lights int _max_lights = = 5 Scene3D _scene std::unique_ptr< Camera3D > _shadow_camera Object3D * _shadow_camera_object std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_color_cube_map std::unique_ptr< gs::ShadowMapColor > _shadow_color_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_color_texture std::unique_ptr< Magnum::GL::CubeMapTextureArray > _shadow_cube_map std::vector< ShadowData > _shadow_data int _shadow_map_size = = 512 std::unique_ptr< gs::ShadowMap > _shadow_shader std::unique_ptr< Magnum::GL::Texture2DArray > _shadow_texture std::unique_ptr< gs::ShadowMapColor > _shadow_texture_color_shader std::unique_ptr< gs::ShadowMap > _shadow_texture_shader bool _shadowed = = true Magnum::SceneGraph::DrawableGroup3D _shadowed_color_drawables Magnum::SceneGraph::DrawableGroup3D _shadowed_drawables RobotDARTSimu * _simu Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_indices std::unique_ptr< Magnum::Shaders::DistanceFieldVectorGL2D > _text_shader Corrade::Containers::Pointer< Magnum::GL::Buffer > _text_vertices std::unique_ptr< gs::PhongMultiLight > _texture_shader int _transparentSize = = 0 bool _transparent_shadows = = false"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions","title":"Protected Functions","text":"Type Name virtual int exec () override"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#protected-functions-inherited-from-robot_dartguimagnumbaseapplication","title":"Protected Functions inherited from robot_dart::gui::magnum::BaseApplication","text":"See robot_dart::gui::magnum::BaseApplication
Type Name void _gl_clean_up () void _prepare_shadows ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-windowlessglapplication","title":"function WindowlessGLApplication","text":"explicit robot_dart::gui::magnum::WindowlessGLApplication::WindowlessGLApplication (\n int argc,\n char ** argv,\n RobotDARTSimu * simu,\n const GraphicsConfiguration & configuration=GraphicsConfiguration ()\n) \nvirtual void robot_dart::gui::magnum::WindowlessGLApplication::render () override\nImplements robot_dart::gui::magnum::BaseApplication::render
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGLApplication/#function-windowlessglapplication_1","title":"function ~WindowlessGLApplication","text":"robot_dart::gui::magnum::WindowlessGLApplication::~WindowlessGLApplication () \nMagnum::Color4 robot_dart::gui::magnum::WindowlessGLApplication::_bg_color;\nMagnum::GL::Renderbuffer robot_dart::gui::magnum::WindowlessGLApplication::_color;\nMagnum::GL::Renderbuffer robot_dart::gui::magnum::WindowlessGLApplication::_depth;\nbool robot_dart::gui::magnum::WindowlessGLApplication::_draw_debug;\nbool robot_dart::gui::magnum::WindowlessGLApplication::_draw_main_camera;\nMagnum::PixelFormat robot_dart::gui::magnum::WindowlessGLApplication::_format;\nMagnum::GL::Framebuffer robot_dart::gui::magnum::WindowlessGLApplication::_framebuffer;\nRobotDARTSimu* robot_dart::gui::magnum::WindowlessGLApplication::_simu;\ninline virtual int robot_dart::gui::magnum::WindowlessGLApplication::exec () override\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_gl_application.hpp
ClassList > robot_dart > gui > magnum > WindowlessGraphics
Inherits the following classes: robot_dart::gui::magnum::BaseGraphics
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions","title":"Public Functions","text":"Type Name WindowlessGraphics (const GraphicsConfiguration & configuration=default_configuration()) virtual void set_simu (RobotDARTSimu * simu) override ~WindowlessGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-inherited-from-robot_dartguimagnumbasegraphics","title":"Public Functions inherited from robot_dart::gui::magnum::BaseGraphics","text":"See robot_dart::gui::magnum::BaseGraphics
Type Name BaseGraphics (const GraphicsConfiguration & configuration=GraphicsConfiguration()) void add_light (const magnum::Light & light) gs::Camera & camera () const gs::Camera & camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const void clear_lights () virtual DepthImage depth_array () override virtual GrayscaleImage depth_image () override virtual bool done () override const void enable_shadows (bool enable=true, bool transparent=true) virtual size_t height () override const virtual Image image () override magnum::Light & light (size_t i) std::vector< gs::Light > & lights () void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) BaseApplication * magnum_app () const BaseApplication * magnum_app () const Magnum::Image2D * magnum_image () size_t num_lights () const virtual GrayscaleImage raw_depth_image () override void record_video (const std::string & video_fname, int fps=-1) virtual void refresh () override virtual void set_enable (bool enable) override virtual void set_fps (int fps) override virtual void set_simu (RobotDARTSimu * simu) override bool shadowed () const bool transparent_shadows () const virtual size_t width () override const virtual ~BaseGraphics ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-inherited-from-robot_dartguibase","title":"Public Functions inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name Base () virtual DepthImage depth_array () virtual GrayscaleImage depth_image () virtual bool done () const virtual size_t height () const virtual Image image () virtual GrayscaleImage raw_depth_image () virtual void refresh () virtual void set_enable (bool) virtual void set_fps (int) virtual void set_render_period (double) virtual void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual size_t width () const virtual ~Base ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-static-functions","title":"Public Static Functions","text":"Type Name GraphicsConfiguration default_configuration ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#protected-attributes-inherited-from-robot_dartguimagnumbasegraphics","title":"Protected Attributes inherited from robot_dart::gui::magnum::BaseGraphics","text":"See robot_dart::gui::magnum::BaseGraphics
Type Name GraphicsConfiguration _configuration bool _enabled int _fps std::unique_ptr< BaseApplication > _magnum_app Corrade::Utility::Debug _magnum_silence_output = {nullptr}"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#protected-attributes-inherited-from-robot_dartguibase","title":"Protected Attributes inherited from robot_dart::gui::Base","text":"See robot_dart::gui::Base
Type Name RobotDARTSimu * _simu = = nullptr"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-windowlessgraphics","title":"function WindowlessGraphics","text":"inline robot_dart::gui::magnum::WindowlessGraphics::WindowlessGraphics (\n const GraphicsConfiguration & configuration=default_configuration()\n) \nvirtual void robot_dart::gui::magnum::WindowlessGraphics::set_simu (\n RobotDARTSimu * simu\n) override\nImplements robot_dart::gui::magnum::BaseGraphics::set_simu
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1WindowlessGraphics/#function-windowlessgraphics_1","title":"function ~WindowlessGraphics","text":"inline robot_dart::gui::magnum::WindowlessGraphics::~WindowlessGraphics () \nstatic GraphicsConfiguration robot_dart::gui::magnum::WindowlessGraphics::default_configuration () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_graphics.hpp
Namespace List > robot_dart > gui > magnum > gs
"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#classes","title":"Classes","text":"Type Name class Camera class CubeMap class CubeMapColor class Light class Material class PhongMultiLight class ShadowMap class ShadowMapColor"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-functions","title":"Public Functions","text":"Type Name Light create_directional_light (const Magnum::Vector3 & direction, const Material & material) Light create_point_light (const Magnum::Vector3 & position, const Material & material, Magnum::Float intensity, const Magnum::Vector3 & attenuationTerms) Light create_spot_light (const Magnum::Vector3 & position, const Material & material, const Magnum::Vector3 & spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off, Magnum::Float intensity, const Magnum::Vector3 & attenuationTerms) DepthImage depth_array_from_image (Magnum::Image2D * image, Magnum::Float near_plane, Magnum::Float far_plane) GrayscaleImage depth_from_image (Magnum::Image2D * image, bool linearize, Magnum::Float near_plane, Magnum::Float far_plane) Image rgb_from_image (Magnum::Image2D * image)"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-static-functions","title":"Public Static Functions","text":"Type Name fs::path search_path (const fs::path & filename)"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs/#function-create_directional_light","title":"function create_directional_light","text":"inline Light robot_dart::gui::magnum::gs::create_directional_light (\n const Magnum::Vector3 & direction,\n const Material & material\n) \ninline Light robot_dart::gui::magnum::gs::create_point_light (\n const Magnum::Vector3 & position,\n const Material & material,\n Magnum::Float intensity,\n const Magnum::Vector3 & attenuationTerms\n) \ninline Light robot_dart::gui::magnum::gs::create_spot_light (\n const Magnum::Vector3 & position,\n const Material & material,\n const Magnum::Vector3 & spot_direction,\n Magnum::Float spot_exponent,\n Magnum::Float spot_cut_off,\n Magnum::Float intensity,\n const Magnum::Vector3 & attenuationTerms\n) \nDepthImage robot_dart::gui::magnum::gs::depth_array_from_image (\n Magnum::Image2D * image,\n Magnum::Float near_plane,\n Magnum::Float far_plane\n) \nGrayscaleImage robot_dart::gui::magnum::gs::depth_from_image (\n Magnum::Image2D * image,\n bool linearize,\n Magnum::Float near_plane,\n Magnum::Float far_plane\n) \nImage robot_dart::gui::magnum::gs::rgb_from_image (\n Magnum::Image2D * image\n) \nstatic fs::path robot_dart::gui::magnum::gs::search_path (\n const fs::path & filename\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.cpp
ClassList > robot_dart > gui > magnum > gs > Camera
Inherits the following classes: Object3D
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#public-functions","title":"Public Functions","text":"Type Name Camera (Object3D & object, Magnum::Int width, Magnum::Int height) Camera3D & camera () const Object3D & camera_object () const Corrade::Containers::Optional< Magnum::Image2D > & depth_image () void draw (Magnum::SceneGraph::DrawableGroup3D & drawables, Magnum::GL::AbstractFramebuffer & framebuffer, Magnum::PixelFormat format, RobotDARTSimu * simu, const DebugDrawData & debug_data, bool draw_debug=true) Magnum::Matrix4 extrinsic_matrix () const Magnum::Float far_plane () const Camera & forward (Magnum::Float speed) Magnum::Float fov () const Magnum::Int height () const Corrade::Containers::Optional< Magnum::Image2D > & image () Magnum::Matrix3 intrinsic_matrix () const Camera & look_at (const Magnum::Vector3 & camera, const Magnum::Vector3 & center, const Magnum::Vector3 & up=Magnum::Vector3::zAxis()) Camera & move (const Magnum::Vector2i & shift) Magnum::Float near_plane () const void record (bool recording, bool recording_depth=false) void record_video (const std::string & video_fname, int fps) bool recording () bool recording_depth () Object3D & root_object () Camera & set_camera_params (Magnum::Float near_plane, Magnum::Float far_plane, Magnum::Float fov, Magnum::Int width, Magnum::Int height) Camera & set_far_plane (Magnum::Float far_plane) Camera & set_fov (Magnum::Float fov) Camera & set_near_plane (Magnum::Float near_plane) Camera & set_speed (const Magnum::Vector2 & speed) Camera & set_viewport (const Magnum::Vector2i & size) Magnum::Vector2 speed () const Camera & strafe (Magnum::Float speed) void transform_lights (std::vector< gs::Light > & lights) const Magnum::Int width () const ~Camera ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Camera/#function-camera","title":"function Camera","text":"explicit robot_dart::gui::magnum::gs::Camera::Camera (\n Object3D & object,\n Magnum::Int width,\n Magnum::Int height\n) \nCamera3D & robot_dart::gui::magnum::gs::Camera::camera () const\nObject3D & robot_dart::gui::magnum::gs::Camera::camera_object () const\ninline Corrade::Containers::Optional< Magnum::Image2D > & robot_dart::gui::magnum::gs::Camera::depth_image () \nvoid robot_dart::gui::magnum::gs::Camera::draw (\n Magnum::SceneGraph::DrawableGroup3D & drawables,\n Magnum::GL::AbstractFramebuffer & framebuffer,\n Magnum::PixelFormat format,\n RobotDARTSimu * simu,\n const DebugDrawData & debug_data,\n bool draw_debug=true\n) \nMagnum::Matrix4 robot_dart::gui::magnum::gs::Camera::extrinsic_matrix () const\ninline Magnum::Float robot_dart::gui::magnum::gs::Camera::far_plane () const\nCamera & robot_dart::gui::magnum::gs::Camera::forward (\n Magnum::Float speed\n) \ninline Magnum::Float robot_dart::gui::magnum::gs::Camera::fov () const\ninline Magnum::Int robot_dart::gui::magnum::gs::Camera::height () const\ninline Corrade::Containers::Optional< Magnum::Image2D > & robot_dart::gui::magnum::gs::Camera::image () \nMagnum::Matrix3 robot_dart::gui::magnum::gs::Camera::intrinsic_matrix () const\nCamera & robot_dart::gui::magnum::gs::Camera::look_at (\n const Magnum::Vector3 & camera,\n const Magnum::Vector3 & center,\n const Magnum::Vector3 & up=Magnum::Vector3::zAxis()\n) \nCamera & robot_dart::gui::magnum::gs::Camera::move (\n const Magnum::Vector2i & shift\n) \ninline Magnum::Float robot_dart::gui::magnum::gs::Camera::near_plane () const\ninline void robot_dart::gui::magnum::gs::Camera::record (\n bool recording,\n bool recording_depth=false\n) \nvoid robot_dart::gui::magnum::gs::Camera::record_video (\n const std::string & video_fname,\n int fps\n) \ninline bool robot_dart::gui::magnum::gs::Camera::recording () \ninline bool robot_dart::gui::magnum::gs::Camera::recording_depth () \nObject3D & robot_dart::gui::magnum::gs::Camera::root_object () \nCamera & robot_dart::gui::magnum::gs::Camera::set_camera_params (\n Magnum::Float near_plane,\n Magnum::Float far_plane,\n Magnum::Float fov,\n Magnum::Int width,\n Magnum::Int height\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_far_plane (\n Magnum::Float far_plane\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_fov (\n Magnum::Float fov\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_near_plane (\n Magnum::Float near_plane\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_speed (\n const Magnum::Vector2 & speed\n) \nCamera & robot_dart::gui::magnum::gs::Camera::set_viewport (\n const Magnum::Vector2i & size\n) \ninline Magnum::Vector2 robot_dart::gui::magnum::gs::Camera::speed () const\nCamera & robot_dart::gui::magnum::gs::Camera::strafe (\n Magnum::Float speed\n) \nvoid robot_dart::gui::magnum::gs::Camera::transform_lights (\n std::vector< gs::Light > & lights\n) const\ninline Magnum::Int robot_dart::gui::magnum::gs::Camera::width () const\nrobot_dart::gui::magnum::gs::Camera::~Camera () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.hpp
ClassList > robot_dart > gui > magnum > gs > CubeMap
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-functions","title":"Public Functions","text":"Type Name CubeMap (Flags flags={}) CubeMap (Magnum::NoCreateT) noexcept Flags flags () const CubeMap & set_far_plane (Magnum::Float far_plane) CubeMap & set_light_index (Magnum::Int index) CubeMap & set_light_position (const Magnum::Vector3 & position) CubeMap & set_material (Material & material) CubeMap & set_shadow_matrices (Magnum::Matrix4 matrices) CubeMap & set_transformation_matrix (const Magnum::Matrix4 & matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMap/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::CubeMap::Flag {\n DiffuseTexture = 1 << 0\n};\nusing robot_dart::gui::magnum::gs::CubeMap::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::CubeMap::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::CubeMap::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::CubeMap::CubeMap (\n Flags flags={}\n) \nexplicit robot_dart::gui::magnum::gs::CubeMap::CubeMap (\n Magnum::NoCreateT\n) noexcept\nFlags robot_dart::gui::magnum::gs::CubeMap::flags () const\nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_far_plane (\n Magnum::Float far_plane\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_light_index (\n Magnum::Int index\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_light_position (\n const Magnum::Vector3 & position\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_material (\n Material & material\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_shadow_matrices (\n Magnum::Matrix4 matrices\n) \nCubeMap & robot_dart::gui::magnum::gs::CubeMap::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map.hpp
ClassList > robot_dart > gui > magnum > gs > CubeMapColor
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-functions","title":"Public Functions","text":"Type Name CubeMapColor (Flags flags={}) CubeMapColor (Magnum::NoCreateT) noexcept CubeMapColor & bind_cube_map_texture (Magnum::GL::CubeMapTextureArray & texture) Flags flags () const CubeMapColor & set_far_plane (Magnum::Float far_plane) CubeMapColor & set_light_index (Magnum::Int index) CubeMapColor & set_light_position (const Magnum::Vector3 & position) CubeMapColor & set_material (Material & material) CubeMapColor & set_shadow_matrices (Magnum::Matrix4 matrices) CubeMapColor & set_transformation_matrix (const Magnum::Matrix4 & matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1CubeMapColor/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::CubeMapColor::Flag {\n DiffuseTexture = 1 << 0\n};\nusing robot_dart::gui::magnum::gs::CubeMapColor::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::CubeMapColor::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::CubeMapColor::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::CubeMapColor::CubeMapColor (\n Flags flags={}\n) \nexplicit robot_dart::gui::magnum::gs::CubeMapColor::CubeMapColor (\n Magnum::NoCreateT\n) noexcept\nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::bind_cube_map_texture (\n Magnum::GL::CubeMapTextureArray & texture\n) \nFlags robot_dart::gui::magnum::gs::CubeMapColor::flags () const\nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_far_plane (\n Magnum::Float far_plane\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_light_index (\n Magnum::Int index\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_light_position (\n const Magnum::Vector3 & position\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_material (\n Material & material\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_shadow_matrices (\n Magnum::Matrix4 matrices\n) \nCubeMapColor & robot_dart::gui::magnum::gs::CubeMapColor::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map_color.hpp
ClassList > robot_dart > gui > magnum > gs > Light
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#public-functions","title":"Public Functions","text":"Type Name Light () Light (const Magnum::Vector4 & position, const Material & material, const Magnum::Vector3 & spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4 & attenuation, bool cast_shadows=true) Magnum::Vector4 & attenuation () Magnum::Vector4 attenuation () const bool casts_shadows () const Material & material () Material material () const Magnum::Vector4 position () const Light & set_attenuation (const Magnum::Vector4 & attenuation) Light & set_casts_shadows (bool cast_shadows) Light & set_material (const Material & material) Light & set_position (const Magnum::Vector4 & position) Light & set_shadow_matrix (const Magnum::Matrix4 & shadowTransform) Light & set_spot_cut_off (Magnum::Float spot_cut_off) Light & set_spot_direction (const Magnum::Vector3 & spot_direction) Light & set_spot_exponent (Magnum::Float spot_exponent) Light & set_transformed_position (const Magnum::Vector4 & transformed_position) Light & set_transformed_spot_direction (const Magnum::Vector3 & transformed_spot_direction) Magnum::Matrix4 shadow_matrix () const Magnum::Float & spot_cut_off () Magnum::Float spot_cut_off () const Magnum::Vector3 spot_direction () const Magnum::Float & spot_exponent () Magnum::Float spot_exponent () const Magnum::Vector4 & transformed_position () Magnum::Vector4 transformed_position () const Magnum::Vector3 & transformed_spot_direction () Magnum::Vector3 transformed_spot_direction () const"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Vector4 _attenuation bool _cast_shadows = = true Material _material Magnum::Vector4 _position Magnum::Matrix4 _shadow_transform = {} Magnum::Float _spot_cut_off Magnum::Vector3 _spot_direction Magnum::Float _spot_exponent Magnum::Vector4 _transformed_position Magnum::Vector3 _transformed_spot_direction"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Light/#function-light-12","title":"function Light [\u00bd]","text":"robot_dart::gui::magnum::gs::Light::Light () \nrobot_dart::gui::magnum::gs::Light::Light (\n const Magnum::Vector4 & position,\n const Material & material,\n const Magnum::Vector3 & spot_direction,\n Magnum::Float spot_exponent,\n Magnum::Float spot_cut_off,\n const Magnum::Vector4 & attenuation,\n bool cast_shadows=true\n) \nMagnum::Vector4 & robot_dart::gui::magnum::gs::Light::attenuation () \nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::attenuation () const\nbool robot_dart::gui::magnum::gs::Light::casts_shadows () const\nMaterial & robot_dart::gui::magnum::gs::Light::material () \nMaterial robot_dart::gui::magnum::gs::Light::material () const\nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::position () const\nLight & robot_dart::gui::magnum::gs::Light::set_attenuation (\n const Magnum::Vector4 & attenuation\n) \nLight & robot_dart::gui::magnum::gs::Light::set_casts_shadows (\n bool cast_shadows\n) \nLight & robot_dart::gui::magnum::gs::Light::set_material (\n const Material & material\n) \nLight & robot_dart::gui::magnum::gs::Light::set_position (\n const Magnum::Vector4 & position\n) \nLight & robot_dart::gui::magnum::gs::Light::set_shadow_matrix (\n const Magnum::Matrix4 & shadowTransform\n) \nLight & robot_dart::gui::magnum::gs::Light::set_spot_cut_off (\n Magnum::Float spot_cut_off\n) \nLight & robot_dart::gui::magnum::gs::Light::set_spot_direction (\n const Magnum::Vector3 & spot_direction\n) \nLight & robot_dart::gui::magnum::gs::Light::set_spot_exponent (\n Magnum::Float spot_exponent\n) \nLight & robot_dart::gui::magnum::gs::Light::set_transformed_position (\n const Magnum::Vector4 & transformed_position\n) \nLight & robot_dart::gui::magnum::gs::Light::set_transformed_spot_direction (\n const Magnum::Vector3 & transformed_spot_direction\n) \nMagnum::Matrix4 robot_dart::gui::magnum::gs::Light::shadow_matrix () const\nMagnum::Float & robot_dart::gui::magnum::gs::Light::spot_cut_off () \nMagnum::Float robot_dart::gui::magnum::gs::Light::spot_cut_off () const\nMagnum::Vector3 robot_dart::gui::magnum::gs::Light::spot_direction () const\nMagnum::Float & robot_dart::gui::magnum::gs::Light::spot_exponent () \nMagnum::Float robot_dart::gui::magnum::gs::Light::spot_exponent () const\nMagnum::Vector4 & robot_dart::gui::magnum::gs::Light::transformed_position () \nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::transformed_position () const\nMagnum::Vector3 & robot_dart::gui::magnum::gs::Light::transformed_spot_direction () \nMagnum::Vector3 robot_dart::gui::magnum::gs::Light::transformed_spot_direction () const\nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::_attenuation;\nbool robot_dart::gui::magnum::gs::Light::_cast_shadows;\nMaterial robot_dart::gui::magnum::gs::Light::_material;\nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::_position;\nMagnum::Matrix4 robot_dart::gui::magnum::gs::Light::_shadow_transform;\nMagnum::Float robot_dart::gui::magnum::gs::Light::_spot_cut_off;\nMagnum::Vector3 robot_dart::gui::magnum::gs::Light::_spot_direction;\nMagnum::Float robot_dart::gui::magnum::gs::Light::_spot_exponent;\nMagnum::Vector4 robot_dart::gui::magnum::gs::Light::_transformed_position;\nMagnum::Vector3 robot_dart::gui::magnum::gs::Light::_transformed_spot_direction;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/light.hpp
ClassList > robot_dart > gui > magnum > gs > Material
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#public-functions","title":"Public Functions","text":"Type Name Material () Material (const Magnum::Color4 & ambient, const Magnum::Color4 & diffuse, const Magnum::Color4 & specular, Magnum::Float shininess) Material (Magnum::GL::Texture2D * ambient_texture, Magnum::GL::Texture2D * diffuse_texture, Magnum::GL::Texture2D * specular_texture, Magnum::Float shininess) Magnum::Color4 & ambient_color () Magnum::Color4 ambient_color () const Magnum::GL::Texture2D * ambient_texture () Magnum::Color4 & diffuse_color () Magnum::Color4 diffuse_color () const Magnum::GL::Texture2D * diffuse_texture () bool has_ambient_texture () const bool has_diffuse_texture () const bool has_specular_texture () const Material & set_ambient_color (const Magnum::Color4 & ambient) Material & set_ambient_texture (Magnum::GL::Texture2D * ambient_texture) Material & set_diffuse_color (const Magnum::Color4 & diffuse) Material & set_diffuse_texture (Magnum::GL::Texture2D * diffuse_texture) Material & set_shininess (Magnum::Float shininess) Material & set_specular_color (const Magnum::Color4 & specular) Material & set_specular_texture (Magnum::GL::Texture2D * specular_texture) Magnum::Float & shininess () Magnum::Float shininess () const Magnum::Color4 & specular_color () Magnum::Color4 specular_color () const Magnum::GL::Texture2D * specular_texture ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#protected-attributes","title":"Protected Attributes","text":"Type Name Magnum::Color4 _ambient Magnum::GL::Texture2D * _ambient_texture = = NULL Magnum::Color4 _diffuse Magnum::GL::Texture2D * _diffuse_texture = = NULL Magnum::Float _shininess Magnum::Color4 _specular Magnum::GL::Texture2D * _specular_texture = = NULL"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1Material/#function-material-13","title":"function Material [\u2153]","text":"robot_dart::gui::magnum::gs::Material::Material () \nrobot_dart::gui::magnum::gs::Material::Material (\n const Magnum::Color4 & ambient,\n const Magnum::Color4 & diffuse,\n const Magnum::Color4 & specular,\n Magnum::Float shininess\n) \nrobot_dart::gui::magnum::gs::Material::Material (\n Magnum::GL::Texture2D * ambient_texture,\n Magnum::GL::Texture2D * diffuse_texture,\n Magnum::GL::Texture2D * specular_texture,\n Magnum::Float shininess\n) \nMagnum::Color4 & robot_dart::gui::magnum::gs::Material::ambient_color () \nMagnum::Color4 robot_dart::gui::magnum::gs::Material::ambient_color () const\nMagnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::ambient_texture () \nMagnum::Color4 & robot_dart::gui::magnum::gs::Material::diffuse_color () \nMagnum::Color4 robot_dart::gui::magnum::gs::Material::diffuse_color () const\nMagnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::diffuse_texture () \nbool robot_dart::gui::magnum::gs::Material::has_ambient_texture () const\nbool robot_dart::gui::magnum::gs::Material::has_diffuse_texture () const\nbool robot_dart::gui::magnum::gs::Material::has_specular_texture () const\nMaterial & robot_dart::gui::magnum::gs::Material::set_ambient_color (\n const Magnum::Color4 & ambient\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_ambient_texture (\n Magnum::GL::Texture2D * ambient_texture\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_diffuse_color (\n const Magnum::Color4 & diffuse\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_diffuse_texture (\n Magnum::GL::Texture2D * diffuse_texture\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_shininess (\n Magnum::Float shininess\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_specular_color (\n const Magnum::Color4 & specular\n) \nMaterial & robot_dart::gui::magnum::gs::Material::set_specular_texture (\n Magnum::GL::Texture2D * specular_texture\n) \nMagnum::Float & robot_dart::gui::magnum::gs::Material::shininess () \nMagnum::Float robot_dart::gui::magnum::gs::Material::shininess () const\nMagnum::Color4 & robot_dart::gui::magnum::gs::Material::specular_color () \nMagnum::Color4 robot_dart::gui::magnum::gs::Material::specular_color () const\nMagnum::GL::Texture2D * robot_dart::gui::magnum::gs::Material::specular_texture () \nMagnum::Color4 robot_dart::gui::magnum::gs::Material::_ambient;\nMagnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_ambient_texture;\nMagnum::Color4 robot_dart::gui::magnum::gs::Material::_diffuse;\nMagnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_diffuse_texture;\nMagnum::Float robot_dart::gui::magnum::gs::Material::_shininess;\nMagnum::Color4 robot_dart::gui::magnum::gs::Material::_specular;\nMagnum::GL::Texture2D* robot_dart::gui::magnum::gs::Material::_specular_texture;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/material.hpp
ClassList > robot_dart > gui > magnum > gs > PhongMultiLight
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Normal Normal typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-functions","title":"Public Functions","text":"Type Name PhongMultiLight (Flags flags={}, Magnum::Int max_lights=10) PhongMultiLight (Magnum::NoCreateT) noexcept PhongMultiLight & bind_cube_map_color_texture (Magnum::GL::CubeMapTextureArray & texture) PhongMultiLight & bind_cube_map_texture (Magnum::GL::CubeMapTextureArray & texture) PhongMultiLight & bind_shadow_color_texture (Magnum::GL::Texture2DArray & texture) PhongMultiLight & bind_shadow_texture (Magnum::GL::Texture2DArray & texture) Flags flags () const Magnum::Int max_lights () const PhongMultiLight & set_camera_matrix (const Magnum::Matrix4 & matrix) PhongMultiLight & set_far_plane (Magnum::Float far_plane) PhongMultiLight & set_is_shadowed (bool shadows) PhongMultiLight & set_light (Magnum::Int i, const Light & light) PhongMultiLight & set_material (Material & material) PhongMultiLight & set_normal_matrix (const Magnum::Matrix3x3 & matrix) PhongMultiLight & set_projection_matrix (const Magnum::Matrix4 & matrix) PhongMultiLight & set_specular_strength (Magnum::Float specular_strength) PhongMultiLight & set_transformation_matrix (const Magnum::Matrix4 & matrix) PhongMultiLight & set_transparent_shadows (bool shadows)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1PhongMultiLight/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::PhongMultiLight::Flag {\n AmbientTexture = 1 << 0,\n DiffuseTexture = 1 << 1,\n SpecularTexture = 1 << 2\n};\nusing robot_dart::gui::magnum::gs::PhongMultiLight::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::PhongMultiLight::Normal = Magnum::Shaders::Generic3D::Normal;\nusing robot_dart::gui::magnum::gs::PhongMultiLight::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::PhongMultiLight::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::PhongMultiLight::PhongMultiLight (\n Flags flags={},\n Magnum::Int max_lights=10\n) \nexplicit robot_dart::gui::magnum::gs::PhongMultiLight::PhongMultiLight (\n Magnum::NoCreateT\n) noexcept\nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::bind_cube_map_color_texture (\n Magnum::GL::CubeMapTextureArray & texture\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::bind_cube_map_texture (\n Magnum::GL::CubeMapTextureArray & texture\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::bind_shadow_color_texture (\n Magnum::GL::Texture2DArray & texture\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::bind_shadow_texture (\n Magnum::GL::Texture2DArray & texture\n) \nFlags robot_dart::gui::magnum::gs::PhongMultiLight::flags () const\nMagnum::Int robot_dart::gui::magnum::gs::PhongMultiLight::max_lights () const\nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_camera_matrix (\n const Magnum::Matrix4 & matrix\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_far_plane (\n Magnum::Float far_plane\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_is_shadowed (\n bool shadows\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_light (\n Magnum::Int i,\n const Light & light\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_material (\n Material & material\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_normal_matrix (\n const Magnum::Matrix3x3 & matrix\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_projection_matrix (\n const Magnum::Matrix4 & matrix\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_specular_strength (\n Magnum::Float specular_strength\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nPhongMultiLight & robot_dart::gui::magnum::gs::PhongMultiLight::set_transparent_shadows (\n bool shadows\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/phong_multi_light.hpp
ClassList > robot_dart > gui > magnum > gs > ShadowMap
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-functions","title":"Public Functions","text":"Type Name ShadowMap (Flags flags={}) ShadowMap (Magnum::NoCreateT) noexcept Flags flags () const ShadowMap & set_material (Material & material) ShadowMap & set_projection_matrix (const Magnum::Matrix4 & matrix) ShadowMap & set_transformation_matrix (const Magnum::Matrix4 & matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMap/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::ShadowMap::Flag {\n DiffuseTexture = 1 << 0\n};\nusing robot_dart::gui::magnum::gs::ShadowMap::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::ShadowMap::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::ShadowMap::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::ShadowMap::ShadowMap (\n Flags flags={}\n) \nexplicit robot_dart::gui::magnum::gs::ShadowMap::ShadowMap (\n Magnum::NoCreateT\n) noexcept\nFlags robot_dart::gui::magnum::gs::ShadowMap::flags () const\nShadowMap & robot_dart::gui::magnum::gs::ShadowMap::set_material (\n Material & material\n) \nShadowMap & robot_dart::gui::magnum::gs::ShadowMap::set_projection_matrix (\n const Magnum::Matrix4 & matrix\n) \nShadowMap & robot_dart::gui::magnum::gs::ShadowMap::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map.hpp
ClassList > robot_dart > gui > magnum > gs > ShadowMapColor
Inherits the following classes: Magnum::GL::AbstractShaderProgram
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-types","title":"Public Types","text":"Type Name enum Magnum::UnsignedByte Flag typedef Magnum::Containers::EnumSet< Flag > Flags typedef Magnum::Shaders::Generic3D::Position Position typedef Magnum::Shaders::Generic3D::TextureCoordinates TextureCoordinates"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-functions","title":"Public Functions","text":"Type Name ShadowMapColor (Flags flags={}) ShadowMapColor (Magnum::NoCreateT) noexcept Flags flags () const ShadowMapColor & set_material (Material & material) ShadowMapColor & set_projection_matrix (const Magnum::Matrix4 & matrix) ShadowMapColor & set_transformation_matrix (const Magnum::Matrix4 & matrix)"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1gs_1_1ShadowMapColor/#enum-flag","title":"enum Flag","text":"enum robot_dart::gui::magnum::gs::ShadowMapColor::Flag {\n DiffuseTexture = 1 << 0\n};\nusing robot_dart::gui::magnum::gs::ShadowMapColor::Flags = Magnum::Containers::EnumSet<Flag>;\nusing robot_dart::gui::magnum::gs::ShadowMapColor::Position = Magnum::Shaders::Generic3D::Position;\nusing robot_dart::gui::magnum::gs::ShadowMapColor::TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\nexplicit robot_dart::gui::magnum::gs::ShadowMapColor::ShadowMapColor (\n Flags flags={}\n) \nexplicit robot_dart::gui::magnum::gs::ShadowMapColor::ShadowMapColor (\n Magnum::NoCreateT\n) noexcept\nFlags robot_dart::gui::magnum::gs::ShadowMapColor::flags () const\nShadowMapColor & robot_dart::gui::magnum::gs::ShadowMapColor::set_material (\n Material & material\n) \nShadowMapColor & robot_dart::gui::magnum::gs::ShadowMapColor::set_projection_matrix (\n const Magnum::Matrix4 & matrix\n) \nShadowMapColor & robot_dart::gui::magnum::gs::ShadowMapColor::set_transformation_matrix (\n const Magnum::Matrix4 & matrix\n) \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map_color.hpp
Namespace List > robot_dart > gui > magnum > sensor
"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1sensor/#classes","title":"Classes","text":"Type Name class CameraThe documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.cpp
ClassList > robot_dart > gui > magnum > sensor > Camera
Inherits the following classes: robot_dart::sensor::Sensor
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions","title":"Public Functions","text":"Type Name Camera (BaseApplication * app, size_t width, size_t height, size_t freq=30, bool draw_debug=false) virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) override virtual void attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &) override virtual void calculate (double) override gs::Camera & camera () const gs::Camera & camera () const Eigen::Matrix4d camera_extrinsic_matrix () const Eigen::Matrix3d camera_intrinsic_matrix () const DepthImage depth_array () GrayscaleImage depth_image () void draw_debug (bool draw=true) bool drawing_debug () const Image image () virtual void init () override void look_at (const Eigen::Vector3d & camera_pos, const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)) Magnum::Image2D * magnum_depth_image () Magnum::Image2D * magnum_image () GrayscaleImage raw_depth_image () void record_video (const std::string & video_fname) virtual std::string type () override const ~Camera ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes","title":"Protected Attributes","text":"Type Name std::unique_ptr< gs::Camera > _camera Magnum::GL::Renderbuffer _color Magnum::GL::Renderbuffer _depth bool _draw_debug Magnum::PixelFormat _format Magnum::GL::Framebuffer _framebuffer = {Magnum::NoCreate} size_t _height BaseApplication * _magnum_app size_t _width"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera","title":"function Camera","text":"robot_dart::gui::magnum::sensor::Camera::Camera (\n BaseApplication * app,\n size_t width,\n size_t height,\n size_t freq=30,\n bool draw_debug=false\n) \nvirtual void robot_dart::gui::magnum::sensor::Camera::attach_to_body (\n dart::dynamics::BodyNode * body,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) override\nImplements robot_dart::sensor::Sensor::attach_to_body
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-attach_to_joint","title":"function attach_to_joint","text":"inline virtual void robot_dart::gui::magnum::sensor::Camera::attach_to_joint (\n dart::dynamics::Joint *,\n const Eigen::Isometry3d &\n) override\nImplements robot_dart::sensor::Sensor::attach_to_joint
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-calculate","title":"function calculate","text":"virtual void robot_dart::gui::magnum::sensor::Camera::calculate (\n double\n) override\nImplements robot_dart::sensor::Sensor::calculate
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera-12","title":"function camera [\u00bd]","text":"inline gs::Camera & robot_dart::gui::magnum::sensor::Camera::camera () \ninline const gs::Camera & robot_dart::gui::magnum::sensor::Camera::camera () const\nEigen::Matrix4d robot_dart::gui::magnum::sensor::Camera::camera_extrinsic_matrix () const\nEigen::Matrix3d robot_dart::gui::magnum::sensor::Camera::camera_intrinsic_matrix () const\nDepthImage robot_dart::gui::magnum::sensor::Camera::depth_array () \nGrayscaleImage robot_dart::gui::magnum::sensor::Camera::depth_image () \ninline void robot_dart::gui::magnum::sensor::Camera::draw_debug (\n bool draw=true\n) \ninline bool robot_dart::gui::magnum::sensor::Camera::drawing_debug () const\ninline Image robot_dart::gui::magnum::sensor::Camera::image () \nvirtual void robot_dart::gui::magnum::sensor::Camera::init () override\nImplements robot_dart::sensor::Sensor::init
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-look_at","title":"function look_at","text":"void robot_dart::gui::magnum::sensor::Camera::look_at (\n const Eigen::Vector3d & camera_pos,\n const Eigen::Vector3d & look_at=Eigen::Vector3d(0, 0, 0),\n const Eigen::Vector3d & up=Eigen::Vector3d(0, 0, 1)\n) \ninline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_depth_image () \ninline Magnum::Image2D * robot_dart::gui::magnum::sensor::Camera::magnum_image () \nGrayscaleImage robot_dart::gui::magnum::sensor::Camera::raw_depth_image () \ninline void robot_dart::gui::magnum::sensor::Camera::record_video (\n const std::string & video_fname\n) \nvirtual std::string robot_dart::gui::magnum::sensor::Camera::type () override const\nImplements robot_dart::sensor::Sensor::type
"},{"location":"api/classrobot__dart_1_1gui_1_1magnum_1_1sensor_1_1Camera/#function-camera_1","title":"function ~Camera","text":"inline robot_dart::gui::magnum::sensor::Camera::~Camera () \nstd::unique_ptr<gs::Camera> robot_dart::gui::magnum::sensor::Camera::_camera;\nMagnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_color;\nMagnum::GL::Renderbuffer robot_dart::gui::magnum::sensor::Camera::_depth;\nbool robot_dart::gui::magnum::sensor::Camera::_draw_debug;\nMagnum::PixelFormat robot_dart::gui::magnum::sensor::Camera::_format;\nMagnum::GL::Framebuffer robot_dart::gui::magnum::sensor::Camera::_framebuffer;\nsize_t robot_dart::gui::magnum::sensor::Camera::_height;\nBaseApplication* robot_dart::gui::magnum::sensor::Camera::_magnum_app;\nsize_t robot_dart::gui::magnum::sensor::Camera::_width;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.hpp
Namespace List > robot_dart > robots
"},{"location":"api/namespacerobot__dart_1_1robots/#classes","title":"Classes","text":"Type Name class A1 class Arm class Franka class Hexapod class ICub class Iiwa class Pendulum class Talos datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __ class TalosFastCollision class TalosLight class Tiago datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __ class Ur3e class Ur3eHand class Vx300The documentation for this class was generated from the following file robot_dart/robots/a1.cpp
ClassList > robot_dart > robots > A1
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions","title":"Public Functions","text":"Type Name A1 (size_t frequency=1000, const std::string & urdf=\"unitree_a1/a1.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('a1\\_description', 'unitree\\_a1/a1\\_description')) const sensor::IMU & imu () const virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::IMU > _imu"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1A1/#function-a1","title":"function A1","text":"robot_dart::robots::A1::A1 (\n size_t frequency=1000,\n const std::string & urdf=\"unitree_a1/a1.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('a1_description', 'unitree_a1/a1_description')\n) \ninline const sensor::IMU & robot_dart::robots::A1::imu () const\nvirtual void robot_dart::robots::A1::reset () override\nImplements robot_dart::Robot::reset
"},{"location":"api/classrobot__dart_1_1robots_1_1A1/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1A1/#variable-_imu","title":"variable _imu","text":"std::shared_ptr<sensor::IMU> robot_dart::robots::A1::_imu;\nThe documentation for this class was generated from the following file robot_dart/robots/a1.hpp
ClassList > robot_dart > robots > Arm
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions","title":"Public Functions","text":"Type Name Arm (const std::string & urdf=\"arm.urdf\")"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Arm/#function-arm","title":"function Arm","text":"inline robot_dart::robots::Arm::Arm (\n const std::string & urdf=\"arm.urdf\"\n) \nThe documentation for this class was generated from the following file robot_dart/robots/arm.hpp
ClassList > robot_dart > robots > Franka
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions","title":"Public Functions","text":"Type Name Franka (size_t frequency=1000, const std::string & urdf=\"franka/franka.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('franka\\_description', 'franka/franka\\_description')) const sensor::ForceTorque & ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-franka","title":"function Franka","text":"robot_dart::robots::Franka::Franka (\n size_t frequency=1000,\n const std::string & urdf=\"franka/franka.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('franka_description', 'franka/franka_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::Franka::ft_wrist () const\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Franka::_ft_wrist;\nvirtual void robot_dart::robots::Franka::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Franka/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Franka::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/franka.hpp
ClassList > robot_dart > robots > Hexapod
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions","title":"Public Functions","text":"Type Name Hexapod (const std::string & urdf=\"pexod.urdf\") virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Hexapod/#function-hexapod","title":"function Hexapod","text":"inline robot_dart::robots::Hexapod::Hexapod (\n const std::string & urdf=\"pexod.urdf\"\n) \ninline virtual void robot_dart::robots::Hexapod::reset () override\nImplements robot_dart::Robot::reset
The documentation for this class was generated from the following file robot_dart/robots/hexapod.hpp
ClassList > robot_dart > robots > ICub
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions","title":"Public Functions","text":"Type Name ICub (size_t frequency=1000, const std::string & urdf=\"icub/icub.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('icub\\_description', 'icub/icub\\_description')) const sensor::ForceTorque & ft_foot_left () const const sensor::ForceTorque & ft_foot_right () const const sensor::IMU & imu () const virtual void reset () override"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_foot_left std::shared_ptr< sensor::ForceTorque > _ft_foot_right std::shared_ptr< sensor::IMU > _imu"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-icub","title":"function ICub","text":"robot_dart::robots::ICub::ICub (\n size_t frequency=1000,\n const std::string & urdf=\"icub/icub.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('icub_description', 'icub/icub_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::ICub::ft_foot_left () const\ninline const sensor::ForceTorque & robot_dart::robots::ICub::ft_foot_right () const\ninline const sensor::IMU & robot_dart::robots::ICub::imu () const\nvirtual void robot_dart::robots::ICub::reset () override\nImplements robot_dart::Robot::reset
"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#variable-_ft_foot_left","title":"variable _ft_foot_left","text":"std::shared_ptr<sensor::ForceTorque> robot_dart::robots::ICub::_ft_foot_left;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::ICub::_ft_foot_right;\nstd::shared_ptr<sensor::IMU> robot_dart::robots::ICub::_imu;\nvirtual void robot_dart::robots::ICub::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1ICub/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::ICub::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/icub.hpp
ClassList > robot_dart > robots > Iiwa
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions","title":"Public Functions","text":"Type Name Iiwa (size_t frequency=1000, const std::string & urdf=\"iiwa/iiwa.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('iiwa\\_description', 'iiwa/iiwa\\_description')) const sensor::ForceTorque & ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-iiwa","title":"function Iiwa","text":"robot_dart::robots::Iiwa::Iiwa (\n size_t frequency=1000,\n const std::string & urdf=\"iiwa/iiwa.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('iiwa_description', 'iiwa/iiwa_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::Iiwa::ft_wrist () const\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Iiwa::_ft_wrist;\nvirtual void robot_dart::robots::Iiwa::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Iiwa/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Iiwa::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/iiwa.hpp
ClassList > robot_dart > robots > Pendulum
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions","title":"Public Functions","text":"Type Name Pendulum (const std::string & urdf=\"pendulum.urdf\")"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Pendulum/#function-pendulum","title":"function Pendulum","text":"inline robot_dart::robots::Pendulum::Pendulum (\n const std::string & urdf=\"pendulum.urdf\"\n) \nThe documentation for this class was generated from the following file robot_dart/robots/pendulum.hpp
ClassList > robot_dart > robots > Talos
datasheet: https://pal-robotics.com/wp-content/uploads/2019/07/Datasheet_TALOS.pdf __
#include <robot_dart/robots/talos.hpp>Inherits the following classes: robot_dart::Robot
Inherited by the following classes: robot_dart::robots::TalosFastCollision, robot_dart::robots::TalosLight
"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-types","title":"Public Types","text":"Type Name typedef std::unordered_map< std::string, std::shared_ptr< sensor::Torque > > torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions","title":"Public Functions","text":"Type Name Talos (size_t frequency=1000, const std::string & urdf=\"talos/talos.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description')) const sensor::ForceTorque & ft_foot_left () const const sensor::ForceTorque & ft_foot_right () const const sensor::ForceTorque & ft_wrist_left () const const sensor::ForceTorque & ft_wrist_right () const const sensor::IMU & imu () const virtual void reset () override const torque_map_t & torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes","title":"Protected Attributes","text":"Type Name size_t _frequency std::shared_ptr< sensor::ForceTorque > _ft_foot_left std::shared_ptr< sensor::ForceTorque > _ft_foot_right std::shared_ptr< sensor::ForceTorque > _ft_wrist_left std::shared_ptr< sensor::ForceTorque > _ft_wrist_right std::shared_ptr< sensor::IMU > _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#typedef-torque_map_t","title":"typedef torque_map_t","text":"using robot_dart::robots::Talos::torque_map_t = std::unordered_map<std::string, std::shared_ptr<sensor::Torque>>;\nrobot_dart::robots::Talos::Talos (\n size_t frequency=1000,\n const std::string & urdf=\"talos/talos.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('talos_description', 'talos/talos_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::Talos::ft_foot_left () const\ninline const sensor::ForceTorque & robot_dart::robots::Talos::ft_foot_right () const\ninline const sensor::ForceTorque & robot_dart::robots::Talos::ft_wrist_left () const\ninline const sensor::ForceTorque & robot_dart::robots::Talos::ft_wrist_right () const\ninline const sensor::IMU & robot_dart::robots::Talos::imu () const\nvirtual void robot_dart::robots::Talos::reset () override\nImplements robot_dart::Robot::reset
"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-torques","title":"function torques","text":"inline const torque_map_t & robot_dart::robots::Talos::torques () const\nsize_t robot_dart::robots::Talos::_frequency;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Talos::_ft_foot_left;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Talos::_ft_foot_right;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Talos::_ft_wrist_left;\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Talos::_ft_wrist_right;\nstd::shared_ptr<sensor::IMU> robot_dart::robots::Talos::_imu;\ntorque_map_t robot_dart::robots::Talos::_torques;\nvirtual void robot_dart::robots::Talos::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Talos/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Talos::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/talos.hpp
ClassList > robot_dart > robots > TalosFastCollision
Inherits the following classes: robot_dart::robots::Talos
"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-types-inherited-from-robot_dartrobotstalos","title":"Public Types inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name typedef std::unordered_map< std::string, std::shared_ptr< sensor::Torque > > torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions","title":"Public Functions","text":"Type Name TalosFastCollision (size_t frequency=1000, const std::string & urdf=\"talos/talos_fast_collision.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-inherited-from-robot_dartrobotstalos","title":"Public Functions inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name Talos (size_t frequency=1000, const std::string & urdf=\"talos/talos.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description')) const sensor::ForceTorque & ft_foot_left () const const sensor::ForceTorque & ft_foot_right () const const sensor::ForceTorque & ft_wrist_left () const const sensor::ForceTorque & ft_wrist_right () const const sensor::IMU & imu () const virtual void reset () override const torque_map_t & torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions","title":"Public Static Functions","text":"Type Name std::vector< std::tuple< std::string, uint32_t, uint32_t > > collision_vec ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-attributes-inherited-from-robot_dartrobotstalos","title":"Protected Attributes inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name size_t _frequency std::shared_ptr< sensor::ForceTorque > _ft_foot_left std::shared_ptr< sensor::ForceTorque > _ft_foot_right std::shared_ptr< sensor::ForceTorque > _ft_wrist_left std::shared_ptr< sensor::ForceTorque > _ft_wrist_right std::shared_ptr< sensor::IMU > _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-inherited-from-robot_dartrobotstalos","title":"Protected Functions inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosFastCollision/#function-talosfastcollision","title":"function TalosFastCollision","text":"inline robot_dart::robots::TalosFastCollision::TalosFastCollision (\n size_t frequency=1000,\n const std::string & urdf=\"talos/talos_fast_collision.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('talos_description', 'talos/talos_description')\n) \nstatic std::vector< std::tuple< std::string, uint32_t, uint32_t > > robot_dart::robots::TalosFastCollision::collision_vec () \nvirtual void robot_dart::robots::TalosFastCollision::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::robots::Talos::_post_addition
The documentation for this class was generated from the following file robot_dart/robots/talos.hpp
ClassList > robot_dart > robots > TalosLight
Inherits the following classes: robot_dart::robots::Talos
"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-types-inherited-from-robot_dartrobotstalos","title":"Public Types inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name typedef std::unordered_map< std::string, std::shared_ptr< sensor::Torque > > torque_map_t"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions","title":"Public Functions","text":"Type Name TalosLight (size_t frequency=1000, const std::string & urdf=\"talos/talos_fast.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-inherited-from-robot_dartrobotstalos","title":"Public Functions inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name Talos (size_t frequency=1000, const std::string & urdf=\"talos/talos.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('talos\\_description', 'talos/talos\\_description')) const sensor::ForceTorque & ft_foot_left () const const sensor::ForceTorque & ft_foot_right () const const sensor::ForceTorque & ft_wrist_left () const const sensor::ForceTorque & ft_wrist_right () const const sensor::IMU & imu () const virtual void reset () override const torque_map_t & torques () const"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-attributes-inherited-from-robot_dartrobotstalos","title":"Protected Attributes inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name size_t _frequency std::shared_ptr< sensor::ForceTorque > _ft_foot_left std::shared_ptr< sensor::ForceTorque > _ft_foot_right std::shared_ptr< sensor::ForceTorque > _ft_wrist_left std::shared_ptr< sensor::ForceTorque > _ft_wrist_right std::shared_ptr< sensor::IMU > _imu torque_map_t _torques"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-functions-inherited-from-robot_dartrobotstalos","title":"Protected Functions inherited from robot_dart::robots::Talos","text":"See robot_dart::robots::Talos
Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1TalosLight/#function-taloslight","title":"function TalosLight","text":"inline robot_dart::robots::TalosLight::TalosLight (\n size_t frequency=1000,\n const std::string & urdf=\"talos/talos_fast.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('talos_description', 'talos/talos_description')\n) \nThe documentation for this class was generated from the following file robot_dart/robots/talos.hpp
ClassList > robot_dart > robots > Tiago
datasheet: https://pal-robotics.com/wp-content/uploads/2021/07/Datasheet-complete_TIAGo-2021.pdf __
#include <robot_dart/robots/tiago.hpp>Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions","title":"Public Functions","text":"Type Name Tiago (size_t frequency=1000, const std::string & urdf=\"tiago/tiago_steel.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('tiago\\_description', 'tiago/tiago\\_description')) std::vector< std::string > caster_joints () const const sensor::ForceTorque & ft_wrist () const virtual void reset () override void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false, bool override_caster=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false, bool override_caster=false)"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-tiago","title":"function Tiago","text":"robot_dart::robots::Tiago::Tiago (\n size_t frequency=1000,\n const std::string & urdf=\"tiago/tiago_steel.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('tiago_description', 'tiago/tiago_description')\n) \ninline std::vector< std::string > robot_dart::robots::Tiago::caster_joints () const\ninline const sensor::ForceTorque & robot_dart::robots::Tiago::ft_wrist () const\nvirtual void robot_dart::robots::Tiago::reset () override\nImplements robot_dart::Robot::reset
"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-set_actuator_type","title":"function set_actuator_type","text":"void robot_dart::robots::Tiago::set_actuator_type (\n const std::string & type,\n const std::string & joint_name,\n bool override_mimic=false,\n bool override_base=false,\n bool override_caster=false\n) \nvoid robot_dart::robots::Tiago::set_actuator_types (\n const std::string & type,\n const std::vector< std::string > & joint_names={},\n bool override_mimic=false,\n bool override_base=false,\n bool override_caster=false\n) \nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Tiago::_ft_wrist;\nvirtual void robot_dart::robots::Tiago::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Tiago/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Tiago::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/tiago.hpp
ClassList > robot_dart > robots > Ur3e
Inherits the following classes: robot_dart::Robot
Inherited by the following classes: robot_dart::robots::Ur3eHand
"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions","title":"Public Functions","text":"Type Name Ur3e (size_t frequency=1000, const std::string & urdf=\"ur3e/ur3e.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('ur3e\\_description', 'ur3e/ur3e\\_description')) const sensor::ForceTorque & ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes","title":"Protected Attributes","text":"Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions","title":"Protected Functions","text":"Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-ur3e","title":"function Ur3e","text":"robot_dart::robots::Ur3e::Ur3e (\n size_t frequency=1000,\n const std::string & urdf=\"ur3e/ur3e.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('ur3e_description', 'ur3e/ur3e_description')\n) \ninline const sensor::ForceTorque & robot_dart::robots::Ur3e::ft_wrist () const\nstd::shared_ptr<sensor::ForceTorque> robot_dart::robots::Ur3e::_ft_wrist;\nvirtual void robot_dart::robots::Ur3e::_post_addition (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_addition
"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3e/#function-_post_removal","title":"function _post_removal","text":"virtual void robot_dart::robots::Ur3e::_post_removal (\n RobotDARTSimu *\n) override\nImplements robot_dart::Robot::_post_removal
The documentation for this class was generated from the following file robot_dart/robots/ur3e.hpp
ClassList > robot_dart > robots > Ur3eHand
Inherits the following classes: robot_dart::robots::Ur3e
"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions","title":"Public Functions","text":"Type Name Ur3eHand (size_t frequency=1000, const std::string & urdf=\"ur3e/ur3e_with_schunk_hand.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('ur3e\\_description', 'ur3e/ur3e\\_description'))"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-inherited-from-robot_dartrobotsur3e","title":"Public Functions inherited from robot_dart::robots::Ur3e","text":"See robot_dart::robots::Ur3e
Type Name Ur3e (size_t frequency=1000, const std::string & urdf=\"ur3e/ur3e.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('ur3e\\_description', 'ur3e/ur3e\\_description')) const sensor::ForceTorque & ft_wrist () const"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-attributes-inherited-from-robot_dartrobotsur3e","title":"Protected Attributes inherited from robot_dart::robots::Ur3e","text":"See robot_dart::robots::Ur3e
Type Name std::shared_ptr< sensor::ForceTorque > _ft_wrist"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-functions-inherited-from-robot_dartrobotsur3e","title":"Protected Functions inherited from robot_dart::robots::Ur3e","text":"See robot_dart::robots::Ur3e
Type Name virtual void _post_addition (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) overrideFunction called by RobotDARTSimu object when removing the robot to the world."},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Ur3eHand/#function-ur3ehand","title":"function Ur3eHand","text":"inline robot_dart::robots::Ur3eHand::Ur3eHand (\n size_t frequency=1000,\n const std::string & urdf=\"ur3e/ur3e_with_schunk_hand.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('ur3e_description', 'ur3e/ur3e_description')\n) \nThe documentation for this class was generated from the following file robot_dart/robots/ur3e.hpp
ClassList > robot_dart > robots > Vx300
Inherits the following classes: robot_dart::Robot
"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions","title":"Public Functions","text":"Type Name Vx300 (const std::string & urdf=\"vx300/vx300.urdf\", const std::vector< std::pair< std::string, std::string > > & packages=('interbotix\\_xsarm\\_descriptions', 'vx300'))"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions-inherited-from-robot_dartrobot","title":"Public Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name Robot (const std::string & model_file, const std::vector< std::pair< std::string, std::string > > & packages, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (const std::string & model_file, const std::string & robot_name=\"robot\", bool is_urdf_string=false, bool cast_shadows=true) Robot (dart::dynamics::SkeletonPtr skeleton, const std::string & robot_name=\"robot\", bool cast_shadows=true) Eigen::VectorXd acceleration_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd acceleration_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd accelerations (const std::vector< std::string > & dof_names={}) const std::vector< std::shared_ptr< control::RobotControl > > active_controllers () const std::string actuator_type (const std::string & joint_name) const std::vector< std::string > actuator_types (const std::vector< std::string > & joint_names={}) const void add_body_mass (const std::string & body_name, double mass) void add_body_mass (size_t body_index, double mass) void add_controller (const std::shared_ptr< control::RobotControl > & controller, double weight=1.0) void add_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void add_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void add_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) bool adjacent_colliding () const Eigen::MatrixXd aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::Isometry3d base_pose () const Eigen::Vector6d base_pose_vec () const Eigen::Vector6d body_acceleration (const std::string & body_name) const Eigen::Vector6d body_acceleration (size_t body_index) const size_t body_index (const std::string & body_name) const double body_mass (const std::string & body_name) const double body_mass (size_t body_index) const std::string body_name (size_t body_index) const std::vector< std::string > body_names () const dart::dynamics::BodyNode * body_node (const std::string & body_name) dart::dynamics::BodyNode * body_node (size_t body_index) Eigen::Isometry3d body_pose (const std::string & body_name) const Eigen::Isometry3d body_pose (size_t body_index) const Eigen::Vector6d body_pose_vec (const std::string & body_name) const Eigen::Vector6d body_pose_vec (size_t body_index) const Eigen::Vector6d body_velocity (const std::string & body_name) const Eigen::Vector6d body_velocity (size_t body_index) const bool cast_shadows () const void clear_controllers () void clear_external_forces () void clear_internal_forces () std::shared_ptr< Robot > clone () const std::shared_ptr< Robot > clone_ghost (const std::string & ghost_name=\"ghost\", const Eigen::Vector4d & ghost_color={0.3, 0.3, 0.3, 0.7}) const Eigen::Vector3d com () const Eigen::Vector6d com_acceleration () const Eigen::MatrixXd com_jacobian (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd com_jacobian_deriv (const std::vector< std::string > & dof_names={}) const Eigen::Vector6d com_velocity () const Eigen::VectorXd commands (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd constraint_forces (const std::vector< std::string > & dof_names={}) const std::shared_ptr< control::RobotControl > controller (size_t index) const std::vector< std::shared_ptr< control::RobotControl > > controllers () const Eigen::VectorXd coriolis_forces (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd coriolis_gravity_forces (const std::vector< std::string > & dof_names={}) const std::vector< double > coulomb_coeffs (const std::vector< std::string > & dof_names={}) const std::vector< double > damping_coeffs (const std::vector< std::string > & dof_names={}) const dart::dynamics::DegreeOfFreedom * dof (const std::string & dof_name) dart::dynamics::DegreeOfFreedom * dof (size_t dof_index) size_t dof_index (const std::string & dof_name) const const std::unordered_map< std::string, size_t > & dof_map () const std::string dof_name (size_t dof_index) const std::vector< std::string > dof_names (bool filter_mimics=false, bool filter_locked=false, bool filter_passive=false) const const std::vector< std::pair< dart::dynamics::BodyNode *, double > > & drawing_axes () const Eigen::Vector6d external_forces (const std::string & body_name) const Eigen::Vector6d external_forces (size_t body_index) const void fix_to_world () bool fixed () const Eigen::VectorXd force_lower_limits (const std::vector< std::string > & dof_names={}) const void force_position_bounds () std::pair< Eigen::Vector6d, Eigen::Vector6d > force_torque (size_t joint_index) const Eigen::VectorXd force_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd forces (const std::vector< std::string > & dof_names={}) const bool free () const void free_from_world (const Eigen::Vector6d & pose=Eigen::Vector6d::Zero()) double friction_coeff (const std::string & body_name) double friction_coeff (size_t body_index) Eigen::Vector3d friction_dir (const std::string & body_name) Eigen::Vector3d friction_dir (size_t body_index) bool ghost () const Eigen::VectorXd gravity_forces (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_aug_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd inv_mass_matrix (const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian (const std::string & body_name, const std::vector< std::string > & dof_names={}) const Eigen::MatrixXd jacobian_deriv (const std::string & body_name, const std::vector< std::string > & dof_names={}) const dart::dynamics::Joint * joint (const std::string & joint_name) dart::dynamics::Joint * joint (size_t joint_index) size_t joint_index (const std::string & joint_name) const const std::unordered_map< std::string, size_t > & joint_map () const std::string joint_name (size_t joint_index) const std::vector< std::string > joint_names () const std::vector< std::string > locked_dof_names () const Eigen::MatrixXd mass_matrix (const std::vector< std::string > & dof_names={}) const std::vector< std::string > mimic_dof_names () const const std::string & model_filename () const const std::vector< std::pair< std::string, std::string > > & model_packages () const const std::string & name () const size_t num_bodies () const size_t num_controllers () const size_t num_dofs () const size_t num_joints () const std::vector< std::string > passive_dof_names () const std::vector< bool > position_enforced (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd position_upper_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd positions (const std::vector< std::string > & dof_names={}) const void reinit_controllers () void remove_all_drawing_axis () void remove_controller (const std::shared_ptr< control::RobotControl > & controller) void remove_controller (size_t index) virtual void reset () void reset_commands () double restitution_coeff (const std::string & body_name) double restitution_coeff (size_t body_index) double secondary_friction_coeff (const std::string & body_name) double secondary_friction_coeff (size_t body_index) bool self_colliding () const void set_acceleration_lower_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_acceleration_upper_limits (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_accelerations (const Eigen::VectorXd & accelerations, const std::vector< std::string > & dof_names={}) void set_actuator_type (const std::string & type, const std::string & joint_name, bool override_mimic=false, bool override_base=false) void set_actuator_types (const std::string & type, const std::vector< std::string > & joint_names={}, bool override_mimic=false, bool override_base=false) void set_base_pose (const Eigen::Isometry3d & tf) void set_base_pose (const Eigen::Vector6d & pose) set base pose: pose is a 6D vector (first 3D orientation in angle-axis and last 3D translation) void set_body_mass (const std::string & body_name, double mass) void set_body_mass (size_t body_index, double mass) void set_body_name (size_t body_index, const std::string & body_name) void set_cast_shadows (bool cast_shadows=true) void set_color_mode (const std::string & color_mode) void set_color_mode (const std::string & color_mode, const std::string & body_name) void set_commands (const Eigen::VectorXd & commands, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (const std::vector< double > & cfrictions, const std::vector< std::string > & dof_names={}) void set_coulomb_coeffs (double cfriction, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (const std::vector< double > & damps, const std::vector< std::string > & dof_names={}) void set_damping_coeffs (double damp, const std::vector< std::string > & dof_names={}) void set_draw_axis (const std::string & body_name, double size=0.25) void set_external_force (const std::string & body_name, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_force (size_t body_index, const Eigen::Vector3d & force, const Eigen::Vector3d & offset=Eigen::Vector3d::Zero(), bool force_local=false, bool offset_local=true) void set_external_torque (const std::string & body_name, const Eigen::Vector3d & torque, bool local=false) void set_external_torque (size_t body_index, const Eigen::Vector3d & torque, bool local=false) void set_force_lower_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_force_upper_limits (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_forces (const Eigen::VectorXd & forces, const std::vector< std::string > & dof_names={}) void set_friction_coeff (const std::string & body_name, double value) void set_friction_coeff (size_t body_index, double value) void set_friction_coeffs (double value) void set_friction_dir (const std::string & body_name, const Eigen::Vector3d & direction) void set_friction_dir (size_t body_index, const Eigen::Vector3d & direction) void set_ghost (bool ghost=true) void set_joint_name (size_t joint_index, const std::string & joint_name) void set_mimic (const std::string & joint_name, const std::string & mimic_joint_name, double multiplier=1., double offset=0.) void set_position_enforced (const std::vector< bool > & enforced, const std::vector< std::string > & dof_names={}) void set_position_enforced (bool enforced, const std::vector< std::string > & dof_names={}) void set_position_lower_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_position_upper_limits (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_positions (const Eigen::VectorXd & positions, const std::vector< std::string > & dof_names={}) void set_restitution_coeff (const std::string & body_name, double value) void set_restitution_coeff (size_t body_index, double value) void set_restitution_coeffs (double value) void set_secondary_friction_coeff (const std::string & body_name, double value) void set_secondary_friction_coeff (size_t body_index, double value) void set_secondary_friction_coeffs (double value) void set_self_collision (bool enable_self_collisions=true, bool enable_adjacent_collisions=false) void set_spring_stiffnesses (const std::vector< double > & stiffnesses, const std::vector< std::string > & dof_names={}) void set_spring_stiffnesses (double stiffness, const std::vector< std::string > & dof_names={}) void set_velocities (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_lower_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) void set_velocity_upper_limits (const Eigen::VectorXd & velocities, const std::vector< std::string > & dof_names={}) dart::dynamics::SkeletonPtr skeleton () std::vector< double > spring_stiffnesses (const std::vector< std::string > & dof_names={}) const void update (double t) void update_joint_dof_maps () Eigen::VectorXd vec_dof (const Eigen::VectorXd & vec, const std::vector< std::string > & dof_names) const Eigen::VectorXd velocities (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_lower_limits (const std::vector< std::string > & dof_names={}) const Eigen::VectorXd velocity_upper_limits (const std::vector< std::string > & dof_names={}) const virtual ~Robot ()"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-static-functions-inherited-from-robot_dartrobot","title":"Public Static Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_box (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & box_name=\"box\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Isometry3d & tf, const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\") std::shared_ptr< Robot > create_ellipsoid (const Eigen::Vector3d & dims, const Eigen::Vector6d & pose=Eigen::Vector6d::Zero(), const std::string & type=\"free\", double mass=1.0, const Eigen::Vector4d & color=dart::Color::Red(1.0), const std::string & ellipsoid_name=\"ellipsoid\")"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#protected-attributes-inherited-from-robot_dartrobot","title":"Protected Attributes inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name std::vector< std::pair< dart::dynamics::BodyNode *, double > > _axis_shapes bool _cast_shadows std::vector< std::shared_ptr< control::RobotControl > > _controllers std::unordered_map< std::string, size_t > _dof_map bool _is_ghost std::unordered_map< std::string, size_t > _joint_map std::string _model_filename std::vector< std::pair< std::string, std::string > > _packages std::string _robot_name dart::dynamics::SkeletonPtr _skeleton"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#protected-functions-inherited-from-robot_dartrobot","title":"Protected Functions inherited from robot_dart::Robot","text":"See robot_dart::Robot
Type Name dart::dynamics::Joint::ActuatorType _actuator_type (size_t joint_index) const std::vector< dart::dynamics::Joint::ActuatorType > _actuator_types () const std::string _get_path (const std::string & filename) const Eigen::MatrixXd _jacobian (const Eigen::MatrixXd & full_jacobian, const std::vector< std::string > & dof_names) const dart::dynamics::SkeletonPtr _load_model (const std::string & filename, const std::vector< std::pair< std::string, std::string > > & packages=std::vector< std::pair< std::string, std::string > >(), bool is_urdf_string=false) Eigen::MatrixXd _mass_matrix (const Eigen::MatrixXd & full_mass_matrix, const std::vector< std::string > & dof_names) const virtual void _post_addition (RobotDARTSimu *) Function called by RobotDARTSimu object when adding the robot to the world. virtual void _post_removal (RobotDARTSimu *) Function called by RobotDARTSimu object when removing the robot to the world. void _set_actuator_type (size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_actuator_types (const std::vector< dart::dynamics::Joint::ActuatorType > & types, bool override_mimic=false, bool override_base=false) void _set_actuator_types (dart::dynamics::Joint::ActuatorType type, bool override_mimic=false, bool override_base=false) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel) void _set_color_mode (dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode * sn)"},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1robots_1_1Vx300/#function-vx300","title":"function Vx300","text":"inline robot_dart::robots::Vx300::Vx300 (\n const std::string & urdf=\"vx300/vx300.urdf\",\n const std::vector< std::pair< std::string, std::string > > & packages=('interbotix_xsarm_descriptions', 'vx300')\n) \nThe documentation for this class was generated from the following file robot_dart/robots/vx300.hpp
Namespace List > robot_dart > sensor
"},{"location":"api/namespacerobot__dart_1_1sensor/#classes","title":"Classes","text":"Type Name class ForceTorque class IMU struct IMUConfig class Sensor class TorqueThe documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.hpp
ClassList > robot_dart > sensor > ForceTorque
Inherits the following classes: robot_dart::sensor::Sensor
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions","title":"Public Functions","text":"Type Name ForceTorque (dart::dynamics::Joint * joint, size_t frequency=1000, const std::string & direction=\"child_to_parent\") ForceTorque (const std::shared_ptr< Robot > & robot, const std::string & joint_name, size_t frequency=1000, const std::string & direction=\"child_to_parent\") virtual void attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &) override virtual void calculate (double) override Eigen::Vector3d force () const virtual void init () override Eigen::Vector3d torque () const virtual std::string type () override const const Eigen::Vector6d & wrench () const"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes","title":"Protected Attributes","text":"Type Name std::string _direction Eigen::Vector6d _wrench"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-forcetorque-12","title":"function ForceTorque [\u00bd]","text":"robot_dart::sensor::ForceTorque::ForceTorque (\n dart::dynamics::Joint * joint,\n size_t frequency=1000,\n const std::string & direction=\"child_to_parent\"\n) \ninline robot_dart::sensor::ForceTorque::ForceTorque (\n const std::shared_ptr< Robot > & robot,\n const std::string & joint_name,\n size_t frequency=1000,\n const std::string & direction=\"child_to_parent\"\n) \ninline virtual void robot_dart::sensor::ForceTorque::attach_to_body (\n dart::dynamics::BodyNode *,\n const Eigen::Isometry3d &\n) override\nImplements robot_dart::sensor::Sensor::attach_to_body
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-calculate","title":"function calculate","text":"virtual void robot_dart::sensor::ForceTorque::calculate (\n double\n) override\nImplements robot_dart::sensor::Sensor::calculate
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-force","title":"function force","text":"Eigen::Vector3d robot_dart::sensor::ForceTorque::force () const\nvirtual void robot_dart::sensor::ForceTorque::init () override\nImplements robot_dart::sensor::Sensor::init
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-torque","title":"function torque","text":"Eigen::Vector3d robot_dart::sensor::ForceTorque::torque () const\nvirtual std::string robot_dart::sensor::ForceTorque::type () override const\nImplements robot_dart::sensor::Sensor::type
"},{"location":"api/classrobot__dart_1_1sensor_1_1ForceTorque/#function-wrench","title":"function wrench","text":"const Eigen::Vector6d & robot_dart::sensor::ForceTorque::wrench () const\nstd::string robot_dart::sensor::ForceTorque::_direction;\nEigen::Vector6d robot_dart::sensor::ForceTorque::_wrench;\nThe documentation for this class was generated from the following file robot_dart/sensor/force_torque.hpp
ClassList > robot_dart > sensor > IMU
Inherits the following classes: robot_dart::sensor::Sensor
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions","title":"Public Functions","text":"Type Name IMU (const IMUConfig & config) const Eigen::AngleAxisd & angular_position () const Eigen::Vector3d angular_position_vec () const const Eigen::Vector3d & angular_velocity () const virtual void attach_to_joint (dart::dynamics::Joint *, const Eigen::Isometry3d &) override virtual void calculate (double) override virtual void init () override const Eigen::Vector3d & linear_acceleration () const virtual std::string type () override const"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::AngleAxisd _angular_pos Eigen::Vector3d _angular_vel IMUConfig _config Eigen::Vector3d _linear_accel"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-imu","title":"function IMU","text":"robot_dart::sensor::IMU::IMU (\n const IMUConfig & config\n) \nconst Eigen::AngleAxisd & robot_dart::sensor::IMU::angular_position () const\nEigen::Vector3d robot_dart::sensor::IMU::angular_position_vec () const\nconst Eigen::Vector3d & robot_dart::sensor::IMU::angular_velocity () const\ninline virtual void robot_dart::sensor::IMU::attach_to_joint (\n dart::dynamics::Joint *,\n const Eigen::Isometry3d &\n) override\nImplements robot_dart::sensor::Sensor::attach_to_joint
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-calculate","title":"function calculate","text":"virtual void robot_dart::sensor::IMU::calculate (\n double\n) override\nImplements robot_dart::sensor::Sensor::calculate
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-init","title":"function init","text":"virtual void robot_dart::sensor::IMU::init () override\nImplements robot_dart::sensor::Sensor::init
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#function-linear_acceleration","title":"function linear_acceleration","text":"const Eigen::Vector3d & robot_dart::sensor::IMU::linear_acceleration () const\nvirtual std::string robot_dart::sensor::IMU::type () override const\nImplements robot_dart::sensor::Sensor::type
"},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1IMU/#variable-_angular_pos","title":"variable _angular_pos","text":"Eigen::AngleAxisd robot_dart::sensor::IMU::_angular_pos;\nEigen::Vector3d robot_dart::sensor::IMU::_angular_vel;\nIMUConfig robot_dart::sensor::IMU::_config;\nEigen::Vector3d robot_dart::sensor::IMU::_linear_accel;\nThe documentation for this class was generated from the following file robot_dart/sensor/imu.hpp
ClassList > robot_dart > sensor > IMUConfig
"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-attributes","title":"Public Attributes","text":"Type Name Eigen::Vector3d accel_bias = = Eigen::Vector3d::Zero() dart::dynamics::BodyNode * body = = nullptr size_t frequency = = 200 Eigen::Vector3d gyro_bias = = Eigen::Vector3d::Zero()"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-functions","title":"Public Functions","text":"Type Name IMUConfig (dart::dynamics::BodyNode * b, size_t f) IMUConfig (const Eigen::Vector3d & gyro_bias, const Eigen::Vector3d & accel_bias, dart::dynamics::BodyNode * b, size_t f) IMUConfig ()"},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1sensor_1_1IMUConfig/#variable-accel_bias","title":"variable accel_bias","text":"Eigen::Vector3d robot_dart::sensor::IMUConfig::accel_bias;\ndart::dynamics::BodyNode* robot_dart::sensor::IMUConfig::body;\nsize_t robot_dart::sensor::IMUConfig::frequency;\nEigen::Vector3d robot_dart::sensor::IMUConfig::gyro_bias;\ninline robot_dart::sensor::IMUConfig::IMUConfig (\n dart::dynamics::BodyNode * b,\n size_t f\n) \ninline robot_dart::sensor::IMUConfig::IMUConfig (\n const Eigen::Vector3d & gyro_bias,\n const Eigen::Vector3d & accel_bias,\n dart::dynamics::BodyNode * b,\n size_t f\n) \ninline robot_dart::sensor::IMUConfig::IMUConfig () \nThe documentation for this class was generated from the following file robot_dart/sensor/imu.hpp
ClassList > robot_dart > sensor > Sensor
Inherited by the following classes: robot_dart::gui::magnum::sensor::Camera, robot_dart::sensor::ForceTorque, robot_dart::sensor::IMU, robot_dart::sensor::Torque
"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#public-functions","title":"Public Functions","text":"Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#protected-attributes","title":"Protected Attributes","text":"Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Sensor/#function-sensor","title":"function Sensor","text":"robot_dart::sensor::Sensor::Sensor (\n size_t freq=40\n) \nvoid robot_dart::sensor::Sensor::activate (\n bool enable=true\n) \nbool robot_dart::sensor::Sensor::active () const\nvirtual void robot_dart::sensor::Sensor::attach_to_body (\n dart::dynamics::BodyNode * body,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) \ninline void robot_dart::sensor::Sensor::attach_to_body (\n const std::shared_ptr< Robot > & robot,\n const std::string & body_name,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) \nvirtual void robot_dart::sensor::Sensor::attach_to_joint (\n dart::dynamics::Joint * joint,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) \ninline void robot_dart::sensor::Sensor::attach_to_joint (\n const std::shared_ptr< Robot > & robot,\n const std::string & joint_name,\n const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()\n) \nconst std::string & robot_dart::sensor::Sensor::attached_to () const\nvirtual void robot_dart::sensor::Sensor::calculate (\n double\n) = 0\nvoid robot_dart::sensor::Sensor::detach () \nsize_t robot_dart::sensor::Sensor::frequency () const\nvirtual void robot_dart::sensor::Sensor::init () = 0\nconst Eigen::Isometry3d & robot_dart::sensor::Sensor::pose () const\nvoid robot_dart::sensor::Sensor::refresh (\n double t\n) \nvoid robot_dart::sensor::Sensor::set_frequency (\n size_t freq\n) \nvoid robot_dart::sensor::Sensor::set_pose (\n const Eigen::Isometry3d & tf\n) \nvoid robot_dart::sensor::Sensor::set_simu (\n RobotDARTSimu * simu\n) \nconst RobotDARTSimu * robot_dart::sensor::Sensor::simu () const\nvirtual std::string robot_dart::sensor::Sensor::type () const = 0\ninline virtual robot_dart::sensor::Sensor::~Sensor () \nbool robot_dart::sensor::Sensor::_active;\nEigen::Isometry3d robot_dart::sensor::Sensor::_attached_tf;\nbool robot_dart::sensor::Sensor::_attached_to_body;\nbool robot_dart::sensor::Sensor::_attached_to_joint;\nbool robot_dart::sensor::Sensor::_attaching_to_body;\nbool robot_dart::sensor::Sensor::_attaching_to_joint;\ndart::dynamics::BodyNode* robot_dart::sensor::Sensor::_body_attached;\nsize_t robot_dart::sensor::Sensor::_frequency;\ndart::dynamics::Joint* robot_dart::sensor::Sensor::_joint_attached;\nRobotDARTSimu* robot_dart::sensor::Sensor::_simu;\nEigen::Isometry3d robot_dart::sensor::Sensor::_world_pose;\nThe documentation for this class was generated from the following file robot_dart/sensor/sensor.hpp
ClassList > robot_dart > sensor > Torque
Inherits the following classes: robot_dart::sensor::Sensor
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions","title":"Public Functions","text":"Type Name Torque (dart::dynamics::Joint * joint, size_t frequency=1000) Torque (const std::shared_ptr< Robot > & robot, const std::string & joint_name, size_t frequency=1000) virtual void attach_to_body (dart::dynamics::BodyNode *, const Eigen::Isometry3d &) override virtual void calculate (double) override virtual void init () override const Eigen::VectorXd & torques () const virtual std::string type () override const"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions-inherited-from-robot_dartsensorsensor","title":"Public Functions inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name Sensor (size_t freq=40) void activate (bool enable=true) bool active () const virtual void attach_to_body (dart::dynamics::BodyNode * body, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_body (const std::shared_ptr< Robot > & robot, const std::string & body_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) virtual void attach_to_joint (dart::dynamics::Joint * joint, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) void attach_to_joint (const std::shared_ptr< Robot > & robot, const std::string & joint_name, const Eigen::Isometry3d & tf=Eigen::Isometry3d::Identity()) const std::string & attached_to () const virtual void calculate (double) = 0 void detach () size_t frequency () const virtual void init () = 0 const Eigen::Isometry3d & pose () const void refresh (double t) void set_frequency (size_t freq) void set_pose (const Eigen::Isometry3d & tf) void set_simu (RobotDARTSimu * simu) const RobotDARTSimu * simu () const virtual std::string type () const = 0 virtual ~Sensor ()"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes","title":"Protected Attributes","text":"Type Name Eigen::VectorXd _torques"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes-inherited-from-robot_dartsensorsensor","title":"Protected Attributes inherited from robot_dart::sensor::Sensor","text":"See robot_dart::sensor::Sensor
Type Name bool _active Eigen::Isometry3d _attached_tf bool _attached_to_body = = false bool _attached_to_joint = = false bool _attaching_to_body = = false bool _attaching_to_joint = = false dart::dynamics::BodyNode * _body_attached size_t _frequency dart::dynamics::Joint * _joint_attached RobotDARTSimu * _simu = = nullptr Eigen::Isometry3d _world_pose"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torque-12","title":"function Torque [\u00bd]","text":"robot_dart::sensor::Torque::Torque (\n dart::dynamics::Joint * joint,\n size_t frequency=1000\n) \ninline robot_dart::sensor::Torque::Torque (\n const std::shared_ptr< Robot > & robot,\n const std::string & joint_name,\n size_t frequency=1000\n) \ninline virtual void robot_dart::sensor::Torque::attach_to_body (\n dart::dynamics::BodyNode *,\n const Eigen::Isometry3d &\n) override\nImplements robot_dart::sensor::Sensor::attach_to_body
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-calculate","title":"function calculate","text":"virtual void robot_dart::sensor::Torque::calculate (\n double\n) override\nImplements robot_dart::sensor::Sensor::calculate
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-init","title":"function init","text":"virtual void robot_dart::sensor::Torque::init () override\nImplements robot_dart::sensor::Sensor::init
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#function-torques","title":"function torques","text":"const Eigen::VectorXd & robot_dart::sensor::Torque::torques () const\nvirtual std::string robot_dart::sensor::Torque::type () override const\nImplements robot_dart::sensor::Sensor::type
"},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#protected-attributes-documentation","title":"Protected Attributes Documentation","text":""},{"location":"api/classrobot__dart_1_1sensor_1_1Torque/#variable-_torques","title":"variable _torques","text":"Eigen::VectorXd robot_dart::sensor::Torque::_torques;\nThe documentation for this class was generated from the following file robot_dart/sensor/torque.hpp
Namespace List > robot_dart > simu
"},{"location":"api/namespacerobot__dart_1_1simu/#classes","title":"Classes","text":"Type Name struct GUIData struct TextDataThe documentation for this class was generated from the following file robot_dart/gui_data.hpp
ClassList > robot_dart > simu > GUIData
"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#public-functions","title":"Public Functions","text":"Type Name std::shared_ptr< simu::TextData > add_text (const std::string & text, const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(), Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment=2<< 2, bool draw_bg=false, Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75), double font_size=28) bool cast_shadows (dart::dynamics::ShapeNode * shape) const std::vector< std::pair< dart::dynamics::BodyNode *, double > > drawing_axes () const const std::vector< std::shared_ptr< simu::TextData > > & drawing_texts () const bool ghost (dart::dynamics::ShapeNode * shape) const void remove_robot (const std::shared_ptr< Robot > & robot) void remove_text (const std::shared_ptr< simu::TextData > & data) void remove_text (size_t index) void update_robot (const std::shared_ptr< Robot > & robot)"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#public-functions-documentation","title":"Public Functions Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1GUIData/#function-add_text","title":"function add_text","text":"inline std::shared_ptr< simu::TextData > robot_dart::simu::GUIData::add_text (\n const std::string & text,\n const Eigen::Affine2d & tf=Eigen::Affine2d::Identity(),\n Eigen::Vector4d color=Eigen::Vector4d(1, 1, 1, 1),\n std::uint8_t alignment=2<< 2,\n bool draw_bg=false,\n Eigen::Vector4d bg_color=Eigen::Vector4d(0, 0, 0, 0.75),\n double font_size=28\n) \ninline bool robot_dart::simu::GUIData::cast_shadows (\n dart::dynamics::ShapeNode * shape\n) const\ninline std::vector< std::pair< dart::dynamics::BodyNode *, double > > robot_dart::simu::GUIData::drawing_axes () const\ninline const std::vector< std::shared_ptr< simu::TextData > > & robot_dart::simu::GUIData::drawing_texts () const\ninline bool robot_dart::simu::GUIData::ghost (\n dart::dynamics::ShapeNode * shape\n) const\ninline void robot_dart::simu::GUIData::remove_robot (\n const std::shared_ptr< Robot > & robot\n) \ninline void robot_dart::simu::GUIData::remove_text (\n const std::shared_ptr< simu::TextData > & data\n) \ninline void robot_dart::simu::GUIData::remove_text (\n size_t index\n) \ninline void robot_dart::simu::GUIData::update_robot (\n const std::shared_ptr< Robot > & robot\n) \nThe documentation for this class was generated from the following file robot_dart/gui_data.hpp
ClassList > robot_dart > simu > TextData
"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#public-attributes","title":"Public Attributes","text":"Type Name std::uint8_t alignment Eigen::Vector4d background_color Eigen::Vector4d color bool draw_background double font_size = = 28. std::string text Eigen::Affine2d transformation"},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1TextData/#variable-alignment","title":"variable alignment","text":"std::uint8_t robot_dart::simu::TextData::alignment;\nEigen::Vector4d robot_dart::simu::TextData::background_color;\nEigen::Vector4d robot_dart::simu::TextData::color;\nbool robot_dart::simu::TextData::draw_background;\ndouble robot_dart::simu::TextData::font_size;\nstd::string robot_dart::simu::TextData::text;\nEigen::Affine2d robot_dart::simu::TextData::transformation;\nThe documentation for this class was generated from the following file robot_dart/robot_dart_simu.hpp
Namespace List > gs
"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#public-types","title":"Public Types","text":"Type Name enum Magnum::Int gs"},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#public-types-documentation","title":"Public Types Documentation","text":""},{"location":"api/namespacerobot__dart_1_1gui_1_1magnum_1_1gs_1_1_0d21/#enum-gs","title":"enum gs","text":"enum gs::gs;\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
ClassList > RobotData
"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#public-attributes","title":"Public Attributes","text":"Type Name bool casting_shadows bool is_ghost"},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#public-attributes-documentation","title":"Public Attributes Documentation","text":""},{"location":"api/structrobot__dart_1_1simu_1_1GUIData_1_1RobotData/#variable-casting_shadows","title":"variable casting_shadows","text":"bool robot_dart::simu::GUIData::RobotData::casting_shadows;\nbool robot_dart::simu::GUIData::RobotData::is_ghost;\nThe documentation for this class was generated from the following file robot_dart/gui_data.hpp
Namespace List > std
The documentation for this class was generated from the following file [generated]
FileList > robot_dart
"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/#files","title":"Files","text":"Type Name file gui_data.hpp file robot.cpp file robot.hpp file robot_dart_simu.cpp file robot_dart_simu.hpp file robot_pool.cpp file robot_pool.hpp file scheduler.cpp file scheduler.hpp file utils.hpp file utils_headers_dart_collision.hpp file utils_headers_dart_dynamics.hpp file utils_headers_dart_io.hpp file utils_headers_external.hpp file utils_headers_external_gui.hpp"},{"location":"api/dir_166284c5f0440000a6384365f2a45567/#directories","title":"Directories","text":"Type Name dir control dir gui dir robots dir sensorThe documentation for this class was generated from the following file robot_dart/
FileList > robot_dart > gui_data.hpp
Go to the source code of this file
#include \"robot_dart_simu.hpp\"#include \"utils_headers_dart_dynamics.hpp\"#include <unordered_map>#include <vector>The documentation for this class was generated from the following file robot_dart/gui_data.hpp
File List > robot_dart > gui_data.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_SIMU_GUI_DATA_HPP\n#define ROBOT_DART_SIMU_GUI_DATA_HPP\n\n#include \"robot_dart_simu.hpp\"\n#include \"utils_headers_dart_dynamics.hpp\"\n\n#include <unordered_map>\n#include <vector>\n\nnamespace robot_dart {\n namespace simu {\n struct GUIData {\n private:\n struct RobotData {\n bool casting_shadows;\n bool is_ghost;\n };\n\n std::unordered_map<dart::dynamics::ShapeNode*, RobotData> robot_data;\n std::unordered_map<Robot*, std::vector<std::pair<dart::dynamics::BodyNode*, double>>> robot_axes;\n std::vector<std::shared_ptr<simu::TextData>> text_drawings;\n\n public:\n std::shared_ptr<simu::TextData> add_text(const std::string& text, const Eigen::Affine2d& tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = 2 << 2, bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28)\n {\n text_drawings.emplace_back(new TextData{text, tf, color, alignment, draw_bg, bg_color, font_size});\n\n return text_drawings.back();\n }\n\n void remove_text(const std::shared_ptr<simu::TextData>& data)\n {\n for (size_t i = 0; i < text_drawings.size(); i++) {\n if (text_drawings[i] == data) {\n text_drawings.erase(text_drawings.begin() + i);\n return;\n }\n }\n }\n\n void remove_text(size_t index)\n {\n if (index >= text_drawings.size())\n return;\n text_drawings.erase(text_drawings.begin() + index);\n }\n\n void update_robot(const std::shared_ptr<Robot>& robot)\n {\n auto robot_ptr = &*robot;\n auto skel = robot->skeleton();\n bool cast = robot->cast_shadows();\n bool ghost = robot->ghost();\n\n for (size_t i = 0; i < skel->getNumBodyNodes(); ++i) {\n auto bd = skel->getBodyNode(i);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNodeWith<dart::dynamics::VisualAspect>([this, cast, ghost](dart::dynamics::ShapeNode* shapeNode) {\n robot_data[shapeNode] = {cast, ghost};\n });\n#else\n auto& shapes = bd->getShapeNodesWith<dart::dynamics::VisualAspect>();\n for (size_t j = 0; j < shapes.size(); j++) {\n robot_data[shapes[j]] = {cast, ghost};\n }\n#endif\n }\n\n auto& axes = robot->drawing_axes();\n if (axes.size() > 0)\n robot_axes[robot_ptr] = axes;\n }\n\n void remove_robot(const std::shared_ptr<Robot>& robot)\n {\n auto robot_ptr = &*robot;\n auto skel = robot->skeleton();\n for (size_t i = 0; i < skel->getNumShapeNodes(); ++i) {\n auto shape = skel->getShapeNode(i);\n auto shape_iter = robot_data.find(shape);\n if (shape_iter != robot_data.end())\n robot_data.erase(shape_iter);\n }\n\n auto iter = robot_axes.find(robot_ptr);\n if (iter != robot_axes.end())\n robot_axes.erase(iter);\n }\n\n bool cast_shadows(dart::dynamics::ShapeNode* shape) const\n {\n auto shape_iter = robot_data.find(shape);\n if (shape_iter != robot_data.end())\n return robot_data.at(shape).casting_shadows;\n // if not in the array, cast shadow by default\n return true;\n }\n\n bool ghost(dart::dynamics::ShapeNode* shape) const\n {\n auto shape_iter = robot_data.find(shape);\n if (shape_iter != robot_data.end())\n return robot_data.at(shape).is_ghost;\n // if not in the array, the robot is not ghost by default\n return false;\n }\n\n std::vector<std::pair<dart::dynamics::BodyNode*, double>> drawing_axes() const\n {\n std::vector<std::pair<dart::dynamics::BodyNode*, double>> axes;\n for (std::pair<Robot*, std::vector<std::pair<dart::dynamics::BodyNode*, double>>> elem : robot_axes) {\n axes.insert(axes.end(), elem.second.begin(), elem.second.end());\n }\n\n return axes;\n }\n\n const std::vector<std::shared_ptr<simu::TextData>>& drawing_texts() const { return text_drawings; }\n };\n } // namespace simu\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > robot.cpp
Go to the source code of this file
#include <unistd.h>#include <robot_dart/robot.hpp>#include <robot_dart/utils.hpp>#include <robot_dart/utils_headers_dart_dynamics.hpp>#include <robot_dart/utils_headers_dart_io.hpp>#include <robot_dart/control/robot_control.hpp>#include <utheque/utheque.hpp>The documentation for this class was generated from the following file robot_dart/robot.cpp
File List > robot_dart > robot.cpp
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#include <unistd.h>\n\n#include <robot_dart/robot.hpp>\n#include <robot_dart/utils.hpp>\n#include <robot_dart/utils_headers_dart_dynamics.hpp>\n#include <robot_dart/utils_headers_dart_io.hpp>\n\n#include <robot_dart/control/robot_control.hpp>\n\n#include <utheque/utheque.hpp> // library of URDF\n\nnamespace robot_dart {\n namespace detail {\n template <int content>\n Eigen::VectorXd dof_data(dart::dynamics::SkeletonPtr skeleton, const std::vector<std::string>& dof_names, const std::unordered_map<std::string, size_t>& dof_map)\n {\n // Return all values\n if (dof_names.empty()) {\n if (content == 0)\n return skeleton->getPositions();\n else if (content == 1)\n return skeleton->getVelocities();\n else if (content == 2)\n return skeleton->getAccelerations();\n else if (content == 3)\n return skeleton->getForces();\n else if (content == 4)\n return skeleton->getCommands();\n else if (content == 5)\n return skeleton->getPositionLowerLimits();\n else if (content == 6)\n return skeleton->getPositionUpperLimits();\n else if (content == 7)\n return skeleton->getVelocityLowerLimits();\n else if (content == 8)\n return skeleton->getVelocityUpperLimits();\n else if (content == 9)\n return skeleton->getAccelerationLowerLimits();\n else if (content == 10)\n return skeleton->getAccelerationUpperLimits();\n else if (content == 11)\n return skeleton->getForceLowerLimits();\n else if (content == 12)\n return skeleton->getForceUpperLimits();\n else if (content == 13)\n return skeleton->getCoriolisForces();\n else if (content == 14)\n return skeleton->getGravityForces();\n else if (content == 15)\n return skeleton->getCoriolisAndGravityForces();\n else if (content == 16)\n return skeleton->getConstraintForces();\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n\n Eigen::VectorXd data(dof_names.size());\n Eigen::VectorXd tmp;\n\n if (content == 13)\n tmp = skeleton->getCoriolisForces();\n else if (content == 14)\n tmp = skeleton->getGravityForces();\n else if (content == 15)\n tmp = skeleton->getCoriolisAndGravityForces();\n else if (content == 16)\n tmp = skeleton->getConstraintForces();\n\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", Eigen::VectorXd());\n auto dof = skeleton->getDof(it->second);\n if (content == 0)\n data(i) = dof->getPosition();\n else if (content == 1)\n data(i) = dof->getVelocity();\n else if (content == 2)\n data(i) = dof->getAcceleration();\n else if (content == 3)\n data(i) = dof->getForce();\n else if (content == 4)\n data(i) = dof->getCommand();\n else if (content == 5)\n data(i) = dof->getPositionLowerLimit();\n else if (content == 6)\n data(i) = dof->getPositionUpperLimit();\n else if (content == 7)\n data(i) = dof->getVelocityLowerLimit();\n else if (content == 8)\n data(i) = dof->getVelocityUpperLimit();\n else if (content == 9)\n data(i) = dof->getAccelerationLowerLimit();\n else if (content == 10)\n data(i) = dof->getAccelerationUpperLimit();\n else if (content == 11)\n data(i) = dof->getForceLowerLimit();\n else if (content == 12)\n data(i) = dof->getForceUpperLimit();\n else if (content == 13 || content == 14 || content == 15 || content == 16)\n data(i) = tmp(it->second);\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n return data;\n }\n\n template <int content>\n void set_dof_data(const Eigen::VectorXd& data, dart::dynamics::SkeletonPtr skeleton, const std::vector<std::string>& dof_names, const std::unordered_map<std::string, size_t>& dof_map)\n {\n // Set all values\n if (dof_names.empty()) {\n ROBOT_DART_ASSERT(static_cast<size_t>(data.size()) == skeleton->getNumDofs(), \"set_dof_data: size of data is not the same as the DoFs\", );\n if (content == 0)\n return skeleton->setPositions(data);\n else if (content == 1)\n return skeleton->setVelocities(data);\n else if (content == 2)\n return skeleton->setAccelerations(data);\n else if (content == 3)\n return skeleton->setForces(data);\n else if (content == 4)\n return skeleton->setCommands(data);\n else if (content == 5)\n return skeleton->setPositionLowerLimits(data);\n else if (content == 6)\n return skeleton->setPositionUpperLimits(data);\n else if (content == 7)\n return skeleton->setVelocityLowerLimits(data);\n else if (content == 8)\n return skeleton->setVelocityUpperLimits(data);\n else if (content == 9)\n return skeleton->setAccelerationLowerLimits(data);\n else if (content == 10)\n return skeleton->setAccelerationUpperLimits(data);\n else if (content == 11)\n return skeleton->setForceLowerLimits(data);\n else if (content == 12)\n return skeleton->setForceUpperLimits(data);\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n\n ROBOT_DART_ASSERT(static_cast<size_t>(data.size()) == dof_names.size(), \"set_dof_data: size of data is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", );\n auto dof = skeleton->getDof(it->second);\n if (content == 0)\n dof->setPosition(data(i));\n else if (content == 1)\n dof->setVelocity(data(i));\n else if (content == 2)\n dof->setAcceleration(data(i));\n else if (content == 3)\n dof->setForce(data(i));\n else if (content == 4)\n dof->setCommand(data(i));\n else if (content == 5)\n dof->setPositionLowerLimit(data(i));\n else if (content == 6)\n dof->setPositionUpperLimit(data(i));\n else if (content == 7)\n dof->setVelocityLowerLimit(data(i));\n else if (content == 8)\n dof->setVelocityUpperLimit(data(i));\n else if (content == 9)\n dof->setAccelerationLowerLimit(data(i));\n else if (content == 10)\n dof->setAccelerationUpperLimit(data(i));\n else if (content == 11)\n dof->setForceLowerLimit(data(i));\n else if (content == 12)\n dof->setForceUpperLimit(data(i));\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n }\n\n template <int content>\n void add_dof_data(const Eigen::VectorXd& data, dart::dynamics::SkeletonPtr skeleton, const std::vector<std::string>& dof_names, const std::unordered_map<std::string, size_t>& dof_map)\n {\n // Set all values\n if (dof_names.empty()) {\n ROBOT_DART_ASSERT(static_cast<size_t>(data.size()) == skeleton->getNumDofs(), \"set_dof_data: size of data is not the same as the DoFs\", );\n if (content == 0)\n return skeleton->setPositions(skeleton->getPositions() + data);\n else if (content == 1)\n return skeleton->setVelocities(skeleton->getVelocities() + data);\n else if (content == 2)\n return skeleton->setAccelerations(skeleton->getAccelerations() + data);\n else if (content == 3)\n return skeleton->setForces(skeleton->getForces() + data);\n else if (content == 4)\n return skeleton->setCommands(skeleton->getCommands() + data);\n else if (content == 5)\n return skeleton->setPositionLowerLimits(skeleton->getPositionLowerLimits() + data);\n else if (content == 6)\n return skeleton->setPositionUpperLimits(skeleton->getPositionUpperLimits() + data);\n else if (content == 7)\n return skeleton->setVelocityLowerLimits(skeleton->getVelocityLowerLimits() + data);\n else if (content == 8)\n return skeleton->setVelocityUpperLimits(skeleton->getVelocityUpperLimits() + data);\n else if (content == 9)\n return skeleton->setAccelerationLowerLimits(skeleton->getAccelerationLowerLimits() + data);\n else if (content == 10)\n return skeleton->setAccelerationUpperLimits(skeleton->getAccelerationUpperLimits() + data);\n else if (content == 11)\n return skeleton->setForceLowerLimits(skeleton->getForceLowerLimits() + data);\n else if (content == 12)\n return skeleton->setForceUpperLimits(skeleton->getForceUpperLimits() + data);\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n\n ROBOT_DART_ASSERT(static_cast<size_t>(data.size()) == dof_names.size(), \"add_dof_data: size of data is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != dof_map.end(), \"dof_data: \" + dof_names[i] + \" is not in dof_map\", );\n auto dof = skeleton->getDof(it->second);\n if (content == 0)\n dof->setPosition(dof->getPosition() + data(i));\n else if (content == 1)\n dof->setVelocity(dof->getVelocity() + data(i));\n else if (content == 2)\n dof->setAcceleration(dof->getAcceleration() + data(i));\n else if (content == 3)\n dof->setForce(dof->getForce() + data(i));\n else if (content == 4)\n dof->setCommand(dof->getCommand() + data(i));\n else if (content == 5)\n dof->setPositionLowerLimit(dof->getPositionLowerLimit() + data(i));\n else if (content == 6)\n dof->setPositionUpperLimit(dof->getPositionUpperLimit() + data(i));\n else if (content == 7)\n dof->setVelocityLowerLimit(dof->getVelocityLowerLimit() + data(i));\n else if (content == 8)\n dof->setVelocityUpperLimit(dof->getVelocityUpperLimit() + data(i));\n else if (content == 9)\n dof->setAccelerationLowerLimit(dof->getAccelerationLowerLimit() + data(i));\n else if (content == 10)\n dof->setAccelerationUpperLimit(dof->getAccelerationUpperLimit() + data(i));\n else if (content == 11)\n dof->setForceLowerLimit(dof->getForceLowerLimit() + data(i));\n else if (content == 12)\n dof->setForceUpperLimit(dof->getForceUpperLimit() + data(i));\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of data!\");\n }\n }\n } // namespace detail\n\n Robot::Robot(const std::string& model_file, const std::vector<std::pair<std::string, std::string>>& packages, const std::string& robot_name, bool is_urdf_string, bool cast_shadows)\n : _robot_name(robot_name), _skeleton(_load_model(model_file, packages, is_urdf_string)), _cast_shadows(cast_shadows), _is_ghost(false)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_skeleton != nullptr);\n update_joint_dof_maps();\n }\n\n Robot::Robot(const std::string& model_file, const std::string& robot_name, bool is_urdf_string, bool cast_shadows)\n : Robot(model_file, std::vector<std::pair<std::string, std::string>>(), robot_name, is_urdf_string, cast_shadows)\n {\n }\n\n Robot::Robot(dart::dynamics::SkeletonPtr skeleton, const std::string& robot_name, bool cast_shadows)\n : _robot_name(robot_name), _skeleton(skeleton), _cast_shadows(cast_shadows), _is_ghost(false)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_skeleton != nullptr);\n _skeleton->setName(robot_name);\n update_joint_dof_maps();\n reset();\n }\n\n std::shared_ptr<Robot> Robot::clone() const\n {\n // safely clone the skeleton\n _skeleton->getMutex().lock();\n#if DART_VERSION_AT_LEAST(6, 7, 2)\n auto tmp_skel = _skeleton->cloneSkeleton();\n#else\n auto tmp_skel = _skeleton->clone();\n#endif\n _skeleton->getMutex().unlock();\n auto robot = std::make_shared<Robot>(tmp_skel, _robot_name);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n // Deep copy everything\n for (auto& bd : robot->skeleton()->getBodyNodes()) {\n auto& visual_shapes = bd->getShapeNodesWith<dart::dynamics::VisualAspect>();\n for (auto& shape : visual_shapes) {\n if (shape->getShape()->getType() != dart::dynamics::SoftMeshShape::getStaticType())\n shape->setShape(shape->getShape()->clone());\n }\n }\n#endif\n\n robot->set_positions(this->positions());\n\n robot->_model_filename = _model_filename;\n robot->_controllers.clear();\n for (auto& ctrl : _controllers) {\n robot->add_controller(ctrl->clone(), ctrl->weight());\n }\n return robot;\n }\n\n std::shared_ptr<Robot> Robot::clone_ghost(const std::string& ghost_name, const Eigen::Vector4d& ghost_color) const\n {\n // safely clone the skeleton\n _skeleton->getMutex().lock();\n#if DART_VERSION_AT_LEAST(6, 7, 2)\n auto tmp_skel = _skeleton->cloneSkeleton();\n#else\n auto tmp_skel = _skeleton->clone();\n#endif\n _skeleton->getMutex().unlock();\n auto robot = std::make_shared<Robot>(tmp_skel, ghost_name + \"_\" + _robot_name);\n robot->_model_filename = _model_filename;\n\n // ghost robots have no controllers\n robot->_controllers.clear();\n // ghost robots do not do physics updates\n robot->skeleton()->setMobile(false);\n for (auto& bd : robot->skeleton()->getBodyNodes()) {\n // ghost robots do not have collisions\n auto& collision_shapes = bd->getShapeNodesWith<dart::dynamics::CollisionAspect>();\n for (auto& shape : collision_shapes) {\n shape->removeAspect<dart::dynamics::CollisionAspect>();\n }\n\n // ghost robots do not have dynamics\n auto& dyn_shapes = bd->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n shape->removeAspect<dart::dynamics::DynamicsAspect>();\n }\n\n // ghost robots have a different color (same for all bodies)\n auto& visual_shapes = bd->getShapeNodesWith<dart::dynamics::VisualAspect>();\n for (auto& shape : visual_shapes) {\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n if (shape->getShape()->getType() != dart::dynamics::SoftMeshShape::getStaticType())\n shape->setShape(shape->getShape()->clone());\n#endif\n shape->getVisualAspect()->setRGBA(ghost_color);\n }\n }\n\n // set positions\n robot->set_positions(this->positions());\n\n // ghost robots, by default, use the color from the VisualAspect\n robot->set_color_mode(\"aspect\");\n\n // ghost robots do not cast shadows\n robot->set_cast_shadows(false);\n // set the ghost flag\n robot->set_ghost(true);\n\n return robot;\n }\n\n dart::dynamics::SkeletonPtr Robot::skeleton() { return _skeleton; }\n\n dart::dynamics::BodyNode* Robot::body_node(const std::string& body_name) { return _skeleton->getBodyNode(body_name); }\n\n dart::dynamics::BodyNode* Robot::body_node(size_t body_index)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", nullptr);\n return _skeleton->getBodyNode(body_index);\n }\n\n dart::dynamics::Joint* Robot::joint(const std::string& joint_name) { return _skeleton->getJoint(joint_name); }\n\n dart::dynamics::Joint* Robot::joint(size_t joint_index)\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"Joint index out of bounds\", nullptr);\n return _skeleton->getJoint(joint_index);\n }\n\n dart::dynamics::DegreeOfFreedom* Robot::dof(const std::string& dof_name) { return _skeleton->getDof(dof_name); }\n\n dart::dynamics::DegreeOfFreedom* Robot::dof(size_t dof_index)\n {\n ROBOT_DART_ASSERT(dof_index < _skeleton->getNumDofs(), \"Dof index out of bounds\", nullptr);\n return _skeleton->getDof(dof_index);\n }\n\n const std::string& Robot::name() const { return _robot_name; }\n\n void Robot::update(double t)\n {\n _skeleton->setCommands(Eigen::VectorXd::Zero(_skeleton->getNumDofs()));\n\n for (auto& ctrl : _controllers) {\n if (ctrl->active())\n detail::add_dof_data<4>(ctrl->weight() * ctrl->calculate(t), _skeleton,\n ctrl->controllable_dofs(), _dof_map);\n }\n }\n\n void Robot::reinit_controllers()\n {\n for (auto& ctrl : _controllers)\n ctrl->init();\n }\n\n size_t Robot::num_controllers() const { return _controllers.size(); }\n\n std::vector<std::shared_ptr<control::RobotControl>> Robot::controllers() const\n {\n return _controllers;\n }\n\n std::vector<std::shared_ptr<control::RobotControl>> Robot::active_controllers() const\n {\n std::vector<std::shared_ptr<control::RobotControl>> ctrls;\n for (auto& ctrl : _controllers) {\n if (ctrl->active())\n ctrls.push_back(ctrl);\n }\n\n return ctrls;\n }\n\n std::shared_ptr<control::RobotControl> Robot::controller(size_t index) const\n {\n ROBOT_DART_ASSERT(index < _controllers.size(), \"Controller index out of bounds\", nullptr);\n return _controllers[index];\n }\n\n void Robot::add_controller(\n const std::shared_ptr<control::RobotControl>& controller, double weight)\n {\n _controllers.push_back(controller);\n controller->set_robot(this->shared_from_this());\n controller->set_weight(weight);\n controller->init();\n }\n\n void Robot::remove_controller(const std::shared_ptr<control::RobotControl>& controller)\n {\n auto it = std::find(_controllers.begin(), _controllers.end(), controller);\n if (it != _controllers.end())\n _controllers.erase(it);\n }\n\n void Robot::remove_controller(size_t index)\n {\n ROBOT_DART_ASSERT(index < _controllers.size(), \"Controller index out of bounds\", );\n _controllers.erase(_controllers.begin() + index);\n }\n\n void Robot::clear_controllers() { _controllers.clear(); }\n\n void Robot::fix_to_world()\n {\n auto parent_jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", );\n\n if (fixed())\n return;\n\n Eigen::Isometry3d tf(dart::math::expAngular(_skeleton->getPositions().head(3)));\n tf.translation() = _skeleton->getPositions().segment(3, 3);\n dart::dynamics::WeldJoint::Properties properties;\n properties.mName = parent_jt->getName();\n _skeleton->getRootBodyNode()->changeParentJointType<dart::dynamics::WeldJoint>(properties);\n _skeleton->getRootBodyNode()->getParentJoint()->setTransformFromParentBodyNode(tf);\n\n reinit_controllers();\n update_joint_dof_maps();\n }\n\n // pose: Orientation-Position\n void Robot::free_from_world(const Eigen::Vector6d& pose)\n {\n auto parent_jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", );\n\n Eigen::Isometry3d tf(dart::math::expAngular(pose.head(3)));\n tf.translation() = pose.segment(3, 3);\n\n // if already free, we only change the transformation\n if (free()) {\n parent_jt->setTransformFromParentBodyNode(tf);\n return;\n }\n\n dart::dynamics::FreeJoint::Properties properties;\n properties.mName = parent_jt->getName();\n _skeleton->getRootBodyNode()->changeParentJointType<dart::dynamics::FreeJoint>(properties);\n _skeleton->getRootBodyNode()->getParentJoint()->setTransformFromParentBodyNode(tf);\n\n reinit_controllers();\n update_joint_dof_maps();\n }\n\n bool Robot::fixed() const\n {\n auto parent_jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", false);\n return parent_jt->getType() == dart::dynamics::WeldJoint::getStaticType();\n }\n\n bool Robot::free() const\n {\n auto parent_jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(parent_jt != nullptr, \"RootBodyNode does not have a parent joint!\", false);\n return parent_jt->getType() == dart::dynamics::FreeJoint::getStaticType();\n }\n\n void Robot::reset()\n {\n _skeleton->resetPositions();\n _skeleton->resetVelocities();\n _skeleton->resetAccelerations();\n\n clear_internal_forces();\n reset_commands();\n clear_external_forces();\n }\n\n void Robot::clear_external_forces() { _skeleton->clearExternalForces(); }\n\n void Robot::clear_internal_forces()\n {\n _skeleton->clearInternalForces();\n _skeleton->clearConstraintImpulses();\n }\n\n void Robot::reset_commands() { _skeleton->resetCommands(); }\n\n void Robot::set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names, bool override_mimic, bool override_base)\n {\n // Set all dofs to same actuator type\n if (joint_names.empty()) {\n if (type == \"torque\") {\n return _set_actuator_types(dart::dynamics::Joint::FORCE, override_mimic, override_base);\n }\n else if (type == \"servo\") {\n return _set_actuator_types(dart::dynamics::Joint::SERVO, override_mimic, override_base);\n }\n else if (type == \"velocity\") {\n return _set_actuator_types(dart::dynamics::Joint::VELOCITY, override_mimic, override_base);\n }\n else if (type == \"passive\") {\n return _set_actuator_types(dart::dynamics::Joint::PASSIVE, override_mimic, override_base);\n }\n else if (type == \"locked\") {\n return _set_actuator_types(dart::dynamics::Joint::LOCKED, override_mimic, override_base);\n }\n else if (type == \"mimic\") {\n ROBOT_DART_WARNING(true, \"Use this only if you know what you are doing. Use set_mimic otherwise.\");\n return _set_actuator_types(dart::dynamics::Joint::MIMIC, override_mimic, override_base);\n }\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of actuator type. Valid values: torque, servo, velocity, passive, locked, mimic\");\n }\n\n for (size_t i = 0; i < joint_names.size(); i++) {\n auto it = _joint_map.find(joint_names[i]);\n ROBOT_DART_ASSERT(it != _joint_map.end(), \"set_actuator_type: \" + joint_names[i] + \" is not in joint_map\", );\n if (type == \"torque\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::FORCE, override_mimic, override_base);\n }\n else if (type == \"servo\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::SERVO, override_mimic, override_base);\n }\n else if (type == \"velocity\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::VELOCITY, override_mimic, override_base);\n }\n else if (type == \"passive\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::PASSIVE, override_mimic, override_base);\n }\n else if (type == \"locked\") {\n _set_actuator_type(it->second, dart::dynamics::Joint::LOCKED, override_mimic, override_base);\n }\n else if (type == \"mimic\") {\n ROBOT_DART_WARNING(true, \"Use this only if you know what you are doing. Use set_mimic otherwise.\");\n _set_actuator_type(it->second, dart::dynamics::Joint::MIMIC, override_mimic, override_base);\n }\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown type of actuator type. Valid values: torque, servo, velocity, passive, locked, mimic\");\n }\n }\n\n void Robot::set_actuator_type(const std::string& type, const std::string& joint_name, bool override_mimic, bool override_base)\n {\n set_actuator_types(type, {joint_name}, override_mimic, override_base);\n }\n\n void Robot::set_mimic(const std::string& joint_name, const std::string& mimic_joint_name, double multiplier, double offset)\n {\n dart::dynamics::Joint* jnt = _skeleton->getJoint(joint_name);\n const dart::dynamics::Joint* mimic_jnt = _skeleton->getJoint(mimic_joint_name);\n\n ROBOT_DART_ASSERT((jnt && mimic_jnt), \"set_mimic: joint names do not exist\", );\n\n jnt->setActuatorType(dart::dynamics::Joint::MIMIC);\n jnt->setMimicJoint(mimic_jnt, multiplier, offset);\n }\n\n std::string Robot::actuator_type(const std::string& joint_name) const\n {\n auto it = _joint_map.find(joint_name);\n ROBOT_DART_ASSERT(it != _joint_map.end(), \"actuator_type: \" + joint_name + \" is not in joint_map\", \"invalid\");\n\n auto type = _actuator_type(it->second);\n if (type == dart::dynamics::Joint::FORCE)\n return \"torque\";\n else if (type == dart::dynamics::Joint::SERVO)\n return \"servo\";\n else if (type == dart::dynamics::Joint::VELOCITY)\n return \"velocity\";\n else if (type == dart::dynamics::Joint::PASSIVE)\n return \"passive\";\n else if (type == dart::dynamics::Joint::LOCKED)\n return \"locked\";\n else if (type == dart::dynamics::Joint::MIMIC)\n return \"mimic\";\n\n ROBOT_DART_ASSERT(false, \"actuator_type: we should not reach here\", \"invalid\");\n }\n\n std::vector<std::string> Robot::actuator_types(const std::vector<std::string>& joint_names) const\n {\n std::vector<std::string> str_types;\n // Get all dofs\n if (joint_names.empty()) {\n auto types = _actuator_types();\n\n for (size_t i = 0; i < types.size(); i++) {\n auto type = types[i];\n if (type == dart::dynamics::Joint::FORCE)\n str_types.push_back(\"torque\");\n else if (type == dart::dynamics::Joint::SERVO)\n str_types.push_back(\"servo\");\n else if (type == dart::dynamics::Joint::VELOCITY)\n str_types.push_back(\"velocity\");\n else if (type == dart::dynamics::Joint::PASSIVE)\n str_types.push_back(\"passive\");\n else if (type == dart::dynamics::Joint::LOCKED)\n str_types.push_back(\"locked\");\n else if (type == dart::dynamics::Joint::MIMIC)\n str_types.push_back(\"mimic\");\n }\n\n ROBOT_DART_ASSERT(str_types.size() == types.size(), \"actuator_types: sizes of retrieved modes do not match\", {});\n\n return str_types;\n }\n\n for (size_t i = 0; i < joint_names.size(); i++) {\n str_types.push_back(actuator_type(joint_names[i]));\n }\n\n ROBOT_DART_ASSERT(str_types.size() == joint_names.size(), \"actuator_types: sizes of retrieved modes do not match\", {});\n\n return str_types;\n }\n\n void Robot::set_position_enforced(const std::vector<bool>& enforced, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0) {\n ROBOT_DART_ASSERT(enforced.size() == _skeleton->getNumDofs(),\n \"Position enforced vector size is not the same as the DOFs of the robot\", );\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n _skeleton->getDof(i)->getJoint()->setLimitEnforcement(enforced[i]);\n#else\n _skeleton->getDof(i)->getJoint()->setPositionLimitEnforced(enforced[i]);\n#endif\n }\n }\n else {\n ROBOT_DART_ASSERT(enforced.size() == dof_names.size(),\n \"Position enforced vector size is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_position_enforced: \" + dof_names[i] + \" is not in dof_map\", );\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n _skeleton->getDof(it->second)->getJoint()->setLimitEnforcement(enforced[i]);\n#else\n _skeleton->getDof(it->second)->getJoint()->setPositionLimitEnforced(enforced[i]);\n#endif\n }\n }\n }\n\n void Robot::set_position_enforced(bool enforced, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0)\n n_dofs = _skeleton->getNumDofs();\n std::vector<bool> enforced_all(n_dofs, enforced);\n\n set_position_enforced(enforced_all, dof_names);\n }\n\n std::vector<bool> Robot::position_enforced(const std::vector<std::string>& dof_names) const\n {\n std::vector<bool> pos;\n if (dof_names.size() == 0) {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n pos.push_back(_skeleton->getDof(i)->getJoint()->areLimitsEnforced());\n#else\n pos.push_back(_skeleton->getDof(i)->getJoint()->isPositionLimitEnforced());\n#endif\n }\n }\n else {\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"position_enforced: \" + dof_names[i] + \" is not in dof_map\", std::vector<bool>());\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n pos.push_back(_skeleton->getDof(it->second)->getJoint()->areLimitsEnforced());\n#else\n pos.push_back(_skeleton->getDof(it->second)->getJoint()->isPositionLimitEnforced());\n#endif\n }\n }\n\n return pos;\n }\n\n void Robot::force_position_bounds()\n {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n auto dof = _skeleton->getDof(i);\n auto jt = dof->getJoint();\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n bool force = jt->areLimitsEnforced();\n#else\n bool force = jt->isPositionLimitEnforced();\n#endif\n auto type = jt->getActuatorType();\n force = force || type == dart::dynamics::Joint::SERVO || type == dart::dynamics::Joint::MIMIC;\n\n if (force) {\n double epsilon = 1e-5;\n if (dof->getPosition() > dof->getPositionUpperLimit()) {\n dof->setPosition(dof->getPositionUpperLimit() - epsilon);\n }\n else if (dof->getPosition() < dof->getPositionLowerLimit()) {\n dof->setPosition(dof->getPositionLowerLimit() + epsilon);\n }\n }\n }\n }\n\n void Robot::set_damping_coeffs(const std::vector<double>& damps, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0) {\n ROBOT_DART_ASSERT(damps.size() == _skeleton->getNumDofs(),\n \"Damping coefficient vector size is not the same as the DOFs of the robot\", );\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n _skeleton->getDof(i)->setDampingCoefficient(damps[i]);\n }\n }\n else {\n ROBOT_DART_ASSERT(damps.size() == dof_names.size(),\n \"Damping coefficient vector size is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_damping_coeffs: \" + dof_names[i] + \" is not in dof_map\", );\n _skeleton->getDof(it->second)->setDampingCoefficient(damps[i]);\n }\n }\n }\n\n void Robot::set_damping_coeffs(double damp, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0)\n n_dofs = _skeleton->getNumDofs();\n std::vector<double> damps_all(n_dofs, damp);\n\n set_damping_coeffs(damps_all, dof_names);\n }\n\n std::vector<double> Robot::damping_coeffs(const std::vector<std::string>& dof_names) const\n {\n std::vector<double> dampings;\n if (dof_names.size() == 0) {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n dampings.push_back(_skeleton->getDof(i)->getDampingCoefficient());\n }\n }\n else {\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"damping_coeffs: \" + dof_names[i] + \" is not in dof_map\", std::vector<double>());\n dampings.push_back(_skeleton->getDof(it->second)->getDampingCoefficient());\n }\n }\n\n return dampings;\n }\n\n void Robot::set_coulomb_coeffs(const std::vector<double>& cfrictions, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0) {\n ROBOT_DART_ASSERT(cfrictions.size() == _skeleton->getNumDofs(),\n \"Coulomb friction coefficient vector size is not the same as the DOFs of the robot\", );\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n _skeleton->getDof(i)->setCoulombFriction(cfrictions[i]);\n }\n }\n else {\n ROBOT_DART_ASSERT(cfrictions.size() == dof_names.size(),\n \"Coulomb friction coefficient vector size is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_coulomb_coeffs: \" + dof_names[i] + \" is not in dof_map\", );\n _skeleton->getDof(it->second)->setCoulombFriction(cfrictions[i]);\n }\n }\n }\n\n void Robot::set_coulomb_coeffs(double cfriction, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0)\n n_dofs = _skeleton->getNumDofs();\n std::vector<double> cfrictions(n_dofs, cfriction);\n\n set_coulomb_coeffs(cfrictions, dof_names);\n }\n\n std::vector<double> Robot::coulomb_coeffs(const std::vector<std::string>& dof_names) const\n {\n std::vector<double> cfrictions;\n if (dof_names.size() == 0) {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n cfrictions.push_back(_skeleton->getDof(i)->getCoulombFriction());\n }\n }\n else {\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"coulomb_coeffs: \" + dof_names[i] + \" is not in dof_map\", std::vector<double>());\n cfrictions.push_back(_skeleton->getDof(it->second)->getCoulombFriction());\n }\n }\n\n return cfrictions;\n }\n\n void Robot::set_spring_stiffnesses(const std::vector<double>& stiffnesses, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0) {\n ROBOT_DART_ASSERT(stiffnesses.size() == _skeleton->getNumDofs(),\n \"Spring stiffnesses vector size is not the same as the DOFs of the robot\", );\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n _skeleton->getDof(i)->setSpringStiffness(stiffnesses[i]);\n }\n }\n else {\n ROBOT_DART_ASSERT(stiffnesses.size() == dof_names.size(),\n \"Spring stiffnesses vector size is not the same as the dof_names size\", );\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"set_spring_stiffnesses: \" + dof_names[i] + \" is not in dof_map\", );\n _skeleton->getDof(it->second)->setSpringStiffness(stiffnesses[i]);\n }\n }\n }\n\n void Robot::set_spring_stiffnesses(double stiffness, const std::vector<std::string>& dof_names)\n {\n size_t n_dofs = dof_names.size();\n if (n_dofs == 0)\n n_dofs = _skeleton->getNumDofs();\n std::vector<double> stiffnesses(n_dofs, stiffness);\n\n set_spring_stiffnesses(stiffnesses, dof_names);\n }\n\n std::vector<double> Robot::spring_stiffnesses(const std::vector<std::string>& dof_names) const\n {\n std::vector<double> stiffnesses;\n if (dof_names.size() == 0) {\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i) {\n stiffnesses.push_back(_skeleton->getDof(i)->getSpringStiffness());\n }\n }\n else {\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"spring_stiffnesses: \" + dof_names[i] + \" is not in dof_map\", std::vector<double>());\n stiffnesses.push_back(_skeleton->getDof(it->second)->getSpringStiffness());\n }\n }\n\n return stiffnesses;\n }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto body_node_set_friction_dir = [](dart::dynamics::BodyNode* body, const Eigen::Vector3d& direction) {\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n const auto& dyn = shape->getDynamicsAspect();\n dyn->setFirstFrictionDirection(direction);\n dyn->setFirstFrictionDirectionFrame(body);\n }\n };\n#endif\n\n void Robot::set_friction_dir(const std::string& body_name, const Eigen::Vector3d& direction)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n body_node_set_friction_dir(bd, direction);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n#endif\n }\n\n void Robot::set_friction_dir(size_t body_index, const Eigen::Vector3d& direction)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n body_node_set_friction_dir(_skeleton->getBodyNode(body_index), direction);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n#endif\n }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto body_node_get_friction_dir = [](dart::dynamics::BodyNode* body) {\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n const auto& dyn = shape->getDynamicsAspect();\n return dyn->getFirstFrictionDirection(); // assume all shape nodes have the same friction direction\n }\n\n return Eigen::Vector3d(Eigen::Vector3d::Zero());\n };\n#endif\n\n Eigen::Vector3d Robot::friction_dir(const std::string& body_name)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector3d::Zero());\n\n return body_node_get_friction_dir(bd);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n return Eigen::Vector3d::Zero();\n#endif\n }\n\n Eigen::Vector3d Robot::friction_dir(size_t body_index)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector3d::Zero());\n\n return body_node_get_friction_dir(_skeleton->getBodyNode(body_index));\n#else\n ROBOT_DART_WARNING(true, \"DART supports the frictional direction from v.6.10 onwards!\");\n return Eigen::Vector3d::Zero();\n#endif\n }\n\n auto body_node_set_friction_coeff = [](dart::dynamics::BodyNode* body, double value) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n shape->getDynamicsAspect()->setFrictionCoeff(value);\n }\n#else\n body->setFrictionCoeff(value);\n#endif\n };\n\n void Robot::set_friction_coeff(const std::string& body_name, double value)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n body_node_set_friction_coeff(bd, value);\n }\n\n void Robot::set_friction_coeff(size_t body_index, double value)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n body_node_set_friction_coeff(_skeleton->getBodyNode(body_index), value);\n }\n\n void Robot::set_friction_coeffs(double value)\n {\n for (auto bd : _skeleton->getBodyNodes())\n body_node_set_friction_coeff(bd, value);\n }\n\n auto body_node_get_friction_coeff = [](dart::dynamics::BodyNode* body) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n return shape->getDynamicsAspect()->getFrictionCoeff(); // assume all shape nodes have the same friction\n }\n\n return 0.;\n#else\n return body->getFrictionCoeff();\n#endif\n };\n\n double Robot::friction_coeff(const std::string& body_name)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n return body_node_get_friction_coeff(bd);\n }\n\n double Robot::friction_coeff(size_t body_index)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n return body_node_get_friction_coeff(_skeleton->getBodyNode(body_index));\n }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto body_node_set_secondary_friction_coeff = [](dart::dynamics::BodyNode* body, double value) {\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n shape->getDynamicsAspect()->setSecondaryFrictionCoeff(value);\n }\n };\n#endif\n\n void Robot::set_secondary_friction_coeff(const std::string& body_name, double value)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n body_node_set_secondary_friction_coeff(bd, value);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n }\n\n void Robot::set_secondary_friction_coeff(size_t body_index, double value)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n body_node_set_secondary_friction_coeff(_skeleton->getBodyNode(body_index), value);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n }\n\n void Robot::set_secondary_friction_coeffs(double value)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n for (auto bd : _skeleton->getBodyNodes())\n body_node_set_secondary_friction_coeff(bd, value);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n#endif\n }\n\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto body_node_get_secondary_friction_coeff = [](dart::dynamics::BodyNode* body) {\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n return shape->getDynamicsAspect()->getSecondaryFrictionCoeff(); // assume all shape nodes have the same friction\n }\n\n return 0.;\n };\n#endif\n\n double Robot::secondary_friction_coeff(const std::string& body_name)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n return body_node_get_secondary_friction_coeff(bd);\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n return 0.;\n#endif\n }\n\n double Robot::secondary_friction_coeff(size_t body_index)\n {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n return body_node_get_secondary_friction_coeff(_skeleton->getBodyNode(body_index));\n#else\n ROBOT_DART_WARNING(true, \"DART supports the secondary friction coefficient from v.6.10 onwards!\");\n return 0.;\n#endif\n }\n\n auto body_node_set_restitution_coeff = [](dart::dynamics::BodyNode* body, double value) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n shape->getDynamicsAspect()->setRestitutionCoeff(value);\n }\n#else\n body->setRestitutionCoeff(value);\n#endif\n };\n\n void Robot::set_restitution_coeff(const std::string& body_name, double value)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n body_node_set_restitution_coeff(bd, value);\n }\n\n void Robot::set_restitution_coeff(size_t body_index, double value)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n\n body_node_set_restitution_coeff(_skeleton->getBodyNode(body_index), value);\n }\n\n void Robot::set_restitution_coeffs(double value)\n {\n for (auto bd : _skeleton->getBodyNodes())\n body_node_set_restitution_coeff(bd, value);\n }\n\n auto body_node_get_restitution_coeff = [](dart::dynamics::BodyNode* body) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n auto& dyn_shapes = body->getShapeNodesWith<dart::dynamics::DynamicsAspect>();\n for (auto& shape : dyn_shapes) {\n return shape->getDynamicsAspect()->getRestitutionCoeff(); // assume all shape nodes have the same restitution\n }\n\n return 0.;\n#else\n return body->getRestitutionCoeff();\n#endif\n };\n\n double Robot::restitution_coeff(const std::string& body_name)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n\n return body_node_get_restitution_coeff(bd);\n }\n\n double Robot::restitution_coeff(size_t body_index)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n\n return body_node_get_restitution_coeff(_skeleton->getBodyNode(body_index));\n }\n\n Eigen::Isometry3d Robot::base_pose() const\n {\n if (free()) {\n Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n tf.linear() = dart::math::expMapRot(_skeleton->getPositions().head<6>().head<3>());\n tf.translation() = _skeleton->getPositions().head<6>().tail<3>();\n return tf;\n }\n auto jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(jt != nullptr, \"Skeleton does not have a proper root BodyNode!\",\n Eigen::Isometry3d::Identity());\n return jt->getTransformFromParentBodyNode();\n }\n\n Eigen::Vector6d Robot::base_pose_vec() const\n {\n if (free())\n return _skeleton->getPositions().head(6);\n auto jt = _skeleton->getRootBodyNode()->getParentJoint();\n ROBOT_DART_ASSERT(jt != nullptr, \"Skeleton does not have a proper root BodyNode!\",\n Eigen::Vector6d::Zero());\n Eigen::Isometry3d tf = jt->getTransformFromParentBodyNode();\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n return x;\n }\n\n void Robot::set_base_pose(const Eigen::Isometry3d& tf)\n {\n auto jt = _skeleton->getRootBodyNode()->getParentJoint();\n if (jt) {\n if (free()) {\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n jt->setPositions(x);\n }\n else\n jt->setTransformFromParentBodyNode(tf);\n }\n }\n\n void Robot::set_base_pose(const Eigen::Vector6d& pose)\n {\n auto jt = _skeleton->getRootBodyNode()->getParentJoint();\n if (jt) {\n if (free())\n jt->setPositions(pose);\n else {\n Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n tf.linear() = dart::math::expMapRot(pose.head<3>());\n tf.translation() = pose.tail<3>();\n jt->setTransformFromParentBodyNode(tf);\n }\n }\n }\n\n size_t Robot::num_dofs() const { return _skeleton->getNumDofs(); }\n\n size_t Robot::num_joints() const { return _skeleton->getNumJoints(); }\n\n size_t Robot::num_bodies() const { return _skeleton->getNumBodyNodes(); }\n\n Eigen::Vector3d Robot::com() const { return _skeleton->getCOM(); }\n\n Eigen::Vector6d Robot::com_velocity() const { return _skeleton->getCOMSpatialVelocity(); }\n\n Eigen::Vector6d Robot::com_acceleration() const { return _skeleton->getCOMSpatialAcceleration(); }\n\n Eigen::VectorXd Robot::positions(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<0>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_positions(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<0>(positions, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::position_lower_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<5>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_position_lower_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<5>(positions, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::position_upper_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<6>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_position_upper_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<6>(positions, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::velocities(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<1>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_velocities(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<1>(velocities, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::velocity_lower_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<7>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_velocity_lower_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<7>(velocities, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::velocity_upper_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<8>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_velocity_upper_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<8>(velocities, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::accelerations(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<2>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_accelerations(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<2>(accelerations, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::acceleration_lower_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<9>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_acceleration_lower_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<9>(accelerations, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::acceleration_upper_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<10>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_acceleration_upper_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<10>(accelerations, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<3>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_forces(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<3>(forces, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::force_lower_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<11>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_force_lower_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<11>(forces, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::force_upper_limits(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<12>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_force_upper_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<12>(forces, _skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::commands(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<4>(_skeleton, dof_names, _dof_map);\n }\n\n void Robot::set_commands(const Eigen::VectorXd& commands, const std::vector<std::string>& dof_names)\n {\n detail::set_dof_data<4>(commands, _skeleton, dof_names, _dof_map);\n }\n\n std::pair<Eigen::Vector6d, Eigen::Vector6d> Robot::force_torque(size_t joint_index) const\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"Joint index out of bounds\", {});\n auto jt = _skeleton->getJoint(joint_index);\n\n Eigen::Vector6d F1 = Eigen::Vector6d::Zero();\n Eigen::Vector6d F2 = Eigen::Vector6d::Zero();\n Eigen::Isometry3d T12 = jt->getRelativeTransform();\n\n auto child_body = jt->getChildBodyNode();\n // ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", {});\n if (child_body)\n F2 = -dart::math::dAdT(jt->getTransformFromChildBodyNode(), child_body->getBodyForce());\n\n F1 = -dart::math::dAdInvR(T12, F2);\n\n // F1 contains the force applied by the parent Link on the Joint specified in the parent\n // Link frame, F2 contains the force applied by the child Link on the Joint specified in\n // the child Link frame\n return {F1, F2};\n }\n\n void Robot::set_external_force(const std::string& body_name, const Eigen::Vector3d& force, const Eigen::Vector3d& offset, bool force_local, bool offset_local)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n bd->setExtForce(force, offset, force_local, offset_local);\n }\n\n void Robot::set_external_force(size_t body_index, const Eigen::Vector3d& force, const Eigen::Vector3d& offset, bool force_local, bool offset_local)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n\n bd->setExtForce(force, offset, force_local, offset_local);\n }\n\n void Robot::add_external_force(const std::string& body_name, const Eigen::Vector3d& force, const Eigen::Vector3d& offset, bool force_local, bool offset_local)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n bd->addExtForce(force, offset, force_local, offset_local);\n }\n\n void Robot::add_external_force(size_t body_index, const Eigen::Vector3d& force, const Eigen::Vector3d& offset, bool force_local, bool offset_local)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n\n bd->addExtForce(force, offset, force_local, offset_local);\n }\n\n void Robot::set_external_torque(const std::string& body_name, const Eigen::Vector3d& torque, bool local)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n bd->setExtTorque(torque, local);\n }\n\n void Robot::set_external_torque(size_t body_index, const Eigen::Vector3d& torque, bool local)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n\n bd->setExtTorque(torque, local);\n }\n\n void Robot::add_external_torque(const std::string& body_name, const Eigen::Vector3d& torque, bool local)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n\n bd->addExtTorque(torque, local);\n }\n\n void Robot::add_external_torque(size_t body_index, const Eigen::Vector3d& torque, bool local)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n\n bd->addExtTorque(torque, local);\n }\n\n Eigen::Vector6d Robot::external_forces(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n\n return bd->getExternalForceGlobal();\n }\n\n Eigen::Vector6d Robot::external_forces(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\",\n Eigen::Vector6d::Zero());\n auto bd = _skeleton->getBodyNode(body_index);\n\n return bd->getExternalForceGlobal();\n }\n\n Eigen::Isometry3d Robot::body_pose(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Isometry3d::Identity());\n return bd->getWorldTransform();\n }\n\n Eigen::Isometry3d Robot::body_pose(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Isometry3d::Identity());\n return _skeleton->getBodyNode(body_index)->getWorldTransform();\n }\n\n Eigen::Vector6d Robot::body_pose_vec(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n\n Eigen::Isometry3d tf = bd->getWorldTransform();\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n\n return x;\n }\n\n Eigen::Vector6d Robot::body_pose_vec(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n\n Eigen::Isometry3d tf = _skeleton->getBodyNode(body_index)->getWorldTransform();\n\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n\n return x;\n }\n\n Eigen::Vector6d Robot::body_velocity(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n return bd->getSpatialVelocity(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n }\n\n Eigen::Vector6d Robot::body_velocity(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n return _skeleton->getBodyNode(body_index)->getSpatialVelocity(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n }\n\n Eigen::Vector6d Robot::body_acceleration(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::Vector6d::Zero());\n return bd->getSpatialAcceleration(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n }\n\n Eigen::Vector6d Robot::body_acceleration(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", Eigen::Vector6d::Zero());\n return _skeleton->getBodyNode(body_index)->getSpatialAcceleration(dart::dynamics::Frame::World(), dart::dynamics::Frame::World());\n }\n\n std::vector<std::string> Robot::body_names() const\n {\n std::vector<std::string> names;\n for (auto& bd : _skeleton->getBodyNodes())\n names.push_back(bd->getName());\n return names;\n }\n\n std::string Robot::body_name(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", \"\");\n return _skeleton->getBodyNode(body_index)->getName();\n }\n\n void Robot::set_body_name(size_t body_index, const std::string& body_name)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n _skeleton->getBodyNode(body_index)->setName(body_name);\n }\n\n size_t Robot::body_index(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd, \"body_index : \" + body_name + \" is not in the skeleton\", 0);\n return bd->getIndexInSkeleton();\n }\n\n double Robot::body_mass(const std::string& body_name) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0.);\n return bd->getMass();\n }\n\n double Robot::body_mass(size_t body_index) const\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", 0.);\n return _skeleton->getBodyNode(body_index)->getMass();\n }\n\n void Robot::set_body_mass(const std::string& body_name, double mass)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n bd->setMass(mass); // TO-DO: Recompute inertia?\n }\n\n void Robot::set_body_mass(size_t body_index, double mass)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n _skeleton->getBodyNode(body_index)->setMass(mass); // TO-DO: Recompute inertia?\n }\n\n void Robot::add_body_mass(const std::string& body_name, double mass)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n bd->setMass(mass + bd->getMass()); // TO-DO: Recompute inertia?\n }\n\n void Robot::add_body_mass(size_t body_index, double mass)\n {\n ROBOT_DART_ASSERT(body_index < _skeleton->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = _skeleton->getBodyNode(body_index);\n bd->setMass(mass + bd->getMass()); // TO-DO: Recompute inertia?\n }\n\n Eigen::MatrixXd Robot::jacobian(const std::string& body_name, const std::vector<std::string>& dof_names) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::MatrixXd());\n\n Eigen::MatrixXd jac = _skeleton->getWorldJacobian(bd);\n\n return _jacobian(jac, dof_names);\n }\n\n Eigen::MatrixXd Robot::jacobian_deriv(const std::string& body_name, const std::vector<std::string>& dof_names) const\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", Eigen::MatrixXd());\n\n Eigen::MatrixXd jac = _skeleton->getJacobianSpatialDeriv(bd, dart::dynamics::Frame::World());\n\n return _jacobian(jac, dof_names);\n }\n\n Eigen::MatrixXd Robot::com_jacobian(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd jac = _skeleton->getCOMJacobian();\n\n return _jacobian(jac, dof_names);\n }\n\n Eigen::MatrixXd Robot::com_jacobian_deriv(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd jac = _skeleton->getCOMJacobianSpatialDeriv();\n\n return _jacobian(jac, dof_names);\n }\n\n Eigen::MatrixXd Robot::mass_matrix(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd M = _skeleton->getMassMatrix();\n\n return _mass_matrix(M, dof_names);\n }\n\n Eigen::MatrixXd Robot::aug_mass_matrix(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd M = _skeleton->getAugMassMatrix();\n\n return _mass_matrix(M, dof_names);\n }\n\n Eigen::MatrixXd Robot::inv_mass_matrix(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd M = _skeleton->getInvMassMatrix();\n\n return _mass_matrix(M, dof_names);\n }\n\n Eigen::MatrixXd Robot::inv_aug_mass_matrix(const std::vector<std::string>& dof_names) const\n {\n Eigen::MatrixXd M = _skeleton->getInvAugMassMatrix();\n\n return _mass_matrix(M, dof_names);\n }\n\n Eigen::VectorXd Robot::coriolis_forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<13>(_skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::gravity_forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<14>(_skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::coriolis_gravity_forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<15>(_skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::constraint_forces(const std::vector<std::string>& dof_names) const\n {\n return detail::dof_data<16>(_skeleton, dof_names, _dof_map);\n }\n\n Eigen::VectorXd Robot::vec_dof(const Eigen::VectorXd& vec, const std::vector<std::string>& dof_names) const\n {\n assert(vec.size() == static_cast<int>(_skeleton->getNumDofs()));\n\n Eigen::VectorXd ret(dof_names.size());\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"vec_dof: \" + dof_names[i] + \" is not in dof_map\", Eigen::VectorXd());\n\n ret(i) = vec[it->second];\n }\n\n return ret;\n }\n\n void Robot::update_joint_dof_maps()\n {\n // DoFs\n _dof_map.clear();\n for (size_t i = 0; i < _skeleton->getNumDofs(); ++i)\n _dof_map[_skeleton->getDof(i)->getName()] = i;\n\n // Joints\n _joint_map.clear();\n for (size_t i = 0; i < _skeleton->getNumJoints(); ++i)\n _joint_map[_skeleton->getJoint(i)->getName()] = i;\n }\n\n const std::unordered_map<std::string, size_t>& Robot::dof_map() const { return _dof_map; }\n\n const std::unordered_map<std::string, size_t>& Robot::joint_map() const { return _joint_map; }\n\n std::vector<std::string> Robot::dof_names(bool filter_mimics, bool filter_locked, bool filter_passive) const\n {\n std::vector<std::string> names;\n for (auto& dof : _skeleton->getDofs()) {\n auto jt = dof->getJoint();\n if ((!filter_mimics\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n || jt->getActuatorType() != dart::dynamics::Joint::MIMIC\n#else\n || true\n#endif\n )\n && (!filter_locked || jt->getActuatorType() != dart::dynamics::Joint::LOCKED)\n && (!filter_passive || jt->getActuatorType() != dart::dynamics::Joint::PASSIVE))\n names.push_back(dof->getName());\n }\n return names;\n }\n\n std::vector<std::string> Robot::mimic_dof_names() const\n {\n std::vector<std::string> names;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n for (auto& dof : _skeleton->getDofs()) {\n auto jt = dof->getJoint();\n if (jt->getActuatorType() == dart::dynamics::Joint::MIMIC)\n names.push_back(dof->getName());\n }\n#endif\n return names;\n }\n\n std::vector<std::string> Robot::locked_dof_names() const\n {\n std::vector<std::string> names;\n for (auto& dof : _skeleton->getDofs()) {\n auto jt = dof->getJoint();\n if (jt->getActuatorType() == dart::dynamics::Joint::LOCKED)\n names.push_back(dof->getName());\n }\n return names;\n }\n\n std::vector<std::string> Robot::passive_dof_names() const\n {\n std::vector<std::string> names;\n for (auto& dof : _skeleton->getDofs()) {\n auto jt = dof->getJoint();\n if (jt->getActuatorType() == dart::dynamics::Joint::PASSIVE)\n names.push_back(dof->getName());\n }\n return names;\n }\n\n std::string Robot::dof_name(size_t dof_index) const\n {\n ROBOT_DART_ASSERT(dof_index < _skeleton->getNumDofs(), \"Dof index out of bounds\", \"\");\n return _skeleton->getDof(dof_index)->getName();\n }\n\n size_t Robot::dof_index(const std::string& dof_name) const\n {\n if (_dof_map.empty()) {\n ROBOT_DART_WARNING(true,\n \"DoF map is empty. Iterating over all skeleton DoFs to get the index. Consider \"\n \"calling update_joint_dof_maps() before using dof_index()\");\n for (size_t i = 0; i < _skeleton->getNumDofs(); i++)\n if (_skeleton->getDof(i)->getName() == dof_name)\n return i;\n ROBOT_DART_ASSERT(false, \"dof_index : \" + dof_name + \" is not in the skeleton\", 0);\n }\n auto it = _dof_map.find(dof_name);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"dof_index : \" + dof_name + \" is not in DoF map\", 0);\n return it->second;\n }\n\n std::vector<std::string> Robot::joint_names() const\n {\n std::vector<std::string> names;\n for (auto& jt : _skeleton->getJoints())\n names.push_back(jt->getName());\n return names;\n }\n\n std::string Robot::joint_name(size_t joint_index) const\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"Joint index out of bounds\", \"\");\n return _skeleton->getJoint(joint_index)->getName();\n }\n\n void Robot::set_joint_name(size_t joint_index, const std::string& joint_name)\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"Joint index out of bounds\", );\n _skeleton->getJoint(joint_index)->setName(joint_name);\n\n update_joint_dof_maps();\n }\n\n size_t Robot::joint_index(const std::string& joint_name) const\n {\n if (_joint_map.empty()) {\n ROBOT_DART_WARNING(true,\n \"Joint map is empty. Iterating over all skeleton joints to get the index. \"\n \"Consider calling update_joint_dof_maps() before using joint_index()\");\n for (size_t i = 0; i < _skeleton->getNumJoints(); i++)\n if (_skeleton->getJoint(i)->getName() == joint_name)\n return i;\n ROBOT_DART_ASSERT(false, \"joint_index : \" + joint_name + \" is not in the skeleton\", 0);\n }\n auto it = _joint_map.find(joint_name);\n ROBOT_DART_ASSERT(it != _joint_map.end(), \"joint_index : \" + joint_name + \" is not in Joint map\", 0);\n return it->second;\n }\n\n void Robot::set_color_mode(const std::string& color_mode)\n {\n if (color_mode == \"material\")\n _set_color_mode(dart::dynamics::MeshShape::ColorMode::MATERIAL_COLOR, _skeleton);\n else if (color_mode == \"assimp\")\n _set_color_mode(dart::dynamics::MeshShape::ColorMode::COLOR_INDEX, _skeleton);\n else if (color_mode == \"aspect\")\n _set_color_mode(dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR, _skeleton);\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown color mode. Valid values: material, assimp and aspect.\");\n }\n\n void Robot::set_color_mode(const std::string& color_mode, const std::string& body_name)\n {\n dart::dynamics::MeshShape::ColorMode cmode;\n if (color_mode == \"material\")\n cmode = dart::dynamics::MeshShape::ColorMode::MATERIAL_COLOR;\n else if (color_mode == \"assimp\")\n cmode = dart::dynamics::MeshShape::ColorMode::COLOR_INDEX;\n else if (color_mode == \"aspect\")\n cmode = dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR;\n else\n ROBOT_DART_EXCEPTION_ASSERT(false, \"Unknown color mode. Valid values: material, assimp and aspect.\");\n\n auto bn = _skeleton->getBodyNode(body_name);\n if (bn) {\n for (size_t j = 0; j < bn->getNumShapeNodes(); ++j) {\n dart::dynamics::ShapeNode* sn = bn->getShapeNode(j);\n _set_color_mode(cmode, sn);\n }\n }\n }\n\n void Robot::set_self_collision(bool enable_self_collisions, bool enable_adjacent_collisions)\n {\n _skeleton->setSelfCollisionCheck(enable_self_collisions);\n _skeleton->setAdjacentBodyCheck(enable_adjacent_collisions);\n }\n\n bool Robot::self_colliding() const\n {\n return _skeleton->getSelfCollisionCheck();\n }\n\n bool Robot::adjacent_colliding() const\n {\n return _skeleton->getAdjacentBodyCheck() && self_colliding();\n }\n\n void Robot::set_cast_shadows(bool cast_shadows) { _cast_shadows = cast_shadows; }\n\n bool Robot::cast_shadows() const { return _cast_shadows; }\n\n void Robot::set_ghost(bool ghost) { _is_ghost = ghost; }\n\n bool Robot::ghost() const { return _is_ghost; }\n\n void Robot::set_draw_axis(const std::string& body_name, double size)\n {\n auto bd = _skeleton->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd, \"Body name does not exist in skeleton\", );\n std::pair<dart::dynamics::BodyNode*, double> p = {bd, size};\n auto iter = std::find(_axis_shapes.begin(), _axis_shapes.end(), p);\n if (iter == _axis_shapes.end())\n _axis_shapes.push_back(p);\n }\n\n void Robot::remove_all_drawing_axis()\n {\n _axis_shapes.clear();\n }\n\n const std::vector<std::pair<dart::dynamics::BodyNode*, double>>& Robot::drawing_axes() const { return _axis_shapes; }\n\n dart::dynamics::SkeletonPtr Robot::_load_model(const std::string& filename, const std::vector<std::pair<std::string, std::string>>& packages, bool is_urdf_string)\n {\n ROBOT_DART_EXCEPTION_ASSERT(!filename.empty(), \"Empty URDF filename\");\n\n dart::dynamics::SkeletonPtr tmp_skel;\n if (!is_urdf_string) {\n // search for the right directory for our files\n std::string model_file = utheque::path(filename, false, std::string(ROBOT_DART_PREFIX));\n // store the name for future use\n _model_filename = model_file;\n _packages = packages;\n // std::cout << \"RobotDART:: using: \" << model_file << std::endl;\n\n fs::path path(model_file);\n std::string extension = path.extension().string();\n if (extension == \".urdf\") {\n#if DART_VERSION_AT_LEAST(6, 12, 0)\n dart::io::DartLoader::Options options;\n // if links have no inertia, we put ~zero mass and very very small inertia\n options.mDefaultInertia = dart::dynamics::Inertia(1e-10, Eigen::Vector3d::Zero(), Eigen::Matrix3d::Identity() * 1e-6);\n dart::io::DartLoader loader(options);\n#else\n dart::io::DartLoader loader;\n#endif\n for (size_t i = 0; i < packages.size(); i++) {\n std::string package = std::get<1>(packages[i]);\n std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX));\n loader.addPackageDirectory(\n std::get<0>(packages[i]), package_path + \"/\" + package);\n }\n tmp_skel = loader.parseSkeleton(model_file);\n }\n else if (extension == \".sdf\")\n tmp_skel = dart::io::SdfParser::readSkeleton(model_file);\n else if (extension == \".skel\") {\n tmp_skel = dart::io::SkelParser::readSkeleton(model_file);\n // if the skel file contains a world\n // try to read the skeleton with name 'robot_name'\n if (!tmp_skel) {\n dart::simulation::WorldPtr world = dart::io::SkelParser::readWorld(model_file);\n tmp_skel = world->getSkeleton(_robot_name);\n }\n }\n else\n return nullptr;\n }\n else {\n // Load from URDF string\n dart::io::DartLoader loader;\n for (size_t i = 0; i < packages.size(); i++) {\n std::string package = std::get<1>(packages[i]);\n std::string package_path = utheque::directory(package, false, std::string(ROBOT_DART_PREFIX));\n loader.addPackageDirectory(std::get<0>(packages[i]), package_path + \"/\" + package);\n }\n tmp_skel = loader.parseSkeletonString(filename, \"\");\n }\n\n if (tmp_skel == nullptr)\n return nullptr;\n\n tmp_skel->setName(_robot_name);\n // Set joint limits\n for (size_t i = 0; i < tmp_skel->getNumJoints(); ++i) {\n#if DART_VERSION_AT_LEAST(6, 10, 0)\n tmp_skel->getJoint(i)->setLimitEnforcement(true);\n#else\n tmp_skel->getJoint(i)->setPositionLimitEnforced(true);\n#endif\n }\n\n _set_color_mode(dart::dynamics::MeshShape::ColorMode::SHAPE_COLOR, tmp_skel);\n\n return tmp_skel;\n }\n\n void Robot::_set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel)\n {\n for (size_t i = 0; i < skel->getNumBodyNodes(); ++i) {\n dart::dynamics::BodyNode* bn = skel->getBodyNode(i);\n for (size_t j = 0; j < bn->getNumShapeNodes(); ++j) {\n dart::dynamics::ShapeNode* sn = bn->getShapeNode(j);\n _set_color_mode(color_mode, sn);\n }\n }\n }\n\n void Robot::_set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode* sn)\n {\n if (sn->getVisualAspect()) {\n dart::dynamics::MeshShape* ms\n = dynamic_cast<dart::dynamics::MeshShape*>(sn->getShape().get());\n if (ms)\n ms->setColorMode(color_mode);\n }\n }\n\n void Robot::_set_actuator_type(size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic, bool override_base)\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"joint_index index out of bounds\", );\n auto jt = _skeleton->getJoint(joint_index);\n // Do not override 6D base if robot is free and override_base is false\n if (free() && (!override_base && _skeleton->getRootJoint() == jt))\n return;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n if (override_mimic || jt->getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n jt->setActuatorType(type);\n }\n\n void Robot::_set_actuator_types(const std::vector<dart::dynamics::Joint::ActuatorType>& types, bool override_mimic, bool override_base)\n {\n ROBOT_DART_ASSERT(types.size() == _skeleton->getNumJoints(), \"Actuator types vector size is not the same as the joints of the robot\", );\n // Ignore first root joint if robot is free, and override_base is false\n bool ignore_base = free() && !override_base;\n auto root_jt = _skeleton->getRootJoint();\n for (size_t i = 0; i < _skeleton->getNumJoints(); ++i) {\n auto jt = _skeleton->getJoint(i);\n if (jt->getNumDofs() == 0 || (ignore_base && jt == root_jt))\n continue;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n if (override_mimic || jt->getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n jt->setActuatorType(types[i]);\n }\n }\n\n void Robot::_set_actuator_types(dart::dynamics::Joint::ActuatorType type, bool override_mimic, bool override_base)\n {\n // Ignore first root joint if robot is free, and override_base is false\n bool ignore_base = free() && !override_base;\n auto root_jt = _skeleton->getRootJoint();\n for (size_t i = 0; i < _skeleton->getNumJoints(); ++i) {\n auto jt = _skeleton->getJoint(i);\n if (jt->getNumDofs() == 0 || (ignore_base && jt == root_jt))\n continue;\n#if DART_VERSION_AT_LEAST(6, 7, 0)\n if (override_mimic || jt->getActuatorType() != dart::dynamics::Joint::MIMIC)\n#endif\n jt->setActuatorType(type);\n }\n }\n\n dart::dynamics::Joint::ActuatorType Robot::_actuator_type(size_t joint_index) const\n {\n ROBOT_DART_ASSERT(joint_index < _skeleton->getNumJoints(), \"joint_index out of bounds\", dart::dynamics::Joint::ActuatorType::FORCE);\n return _skeleton->getJoint(joint_index)->getActuatorType();\n }\n\n std::vector<dart::dynamics::Joint::ActuatorType> Robot::_actuator_types() const\n {\n std::vector<dart::dynamics::Joint::ActuatorType> types;\n for (size_t i = 0; i < _skeleton->getNumJoints(); ++i) {\n types.push_back(_skeleton->getJoint(i)->getActuatorType());\n }\n\n return types;\n }\n\n Eigen::MatrixXd Robot::_jacobian(const Eigen::MatrixXd& full_jacobian, const std::vector<std::string>& dof_names) const\n {\n if (dof_names.empty())\n return full_jacobian;\n\n Eigen::MatrixXd jac_ret(6, dof_names.size());\n\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"_jacobian: \" + dof_names[i] + \" is not in dof_map\", Eigen::MatrixXd());\n\n jac_ret.col(i) = full_jacobian.col(it->second);\n }\n\n return jac_ret;\n }\n\n Eigen::MatrixXd Robot::_mass_matrix(const Eigen::MatrixXd& full_mass_matrix, const std::vector<std::string>& dof_names) const\n {\n if (dof_names.empty())\n return full_mass_matrix;\n\n Eigen::MatrixXd M_ret(dof_names.size(), dof_names.size());\n\n for (size_t i = 0; i < dof_names.size(); i++) {\n auto it = _dof_map.find(dof_names[i]);\n ROBOT_DART_ASSERT(it != _dof_map.end(), \"mass_matrix: \" + dof_names[i] + \" is not in dof_map\", Eigen::MatrixXd());\n\n M_ret(i, i) = full_mass_matrix(it->second, it->second);\n\n for (size_t j = i + 1; j < dof_names.size(); j++) {\n auto it2 = _dof_map.find(dof_names[j]);\n ROBOT_DART_ASSERT(it2 != _dof_map.end(), \"mass_matrix: \" + dof_names[j] + \" is not in dof_map\", Eigen::MatrixXd());\n\n M_ret(i, j) = full_mass_matrix(it->second, it2->second);\n M_ret(j, i) = full_mass_matrix(it2->second, it->second);\n }\n }\n\n return M_ret;\n }\n\n std::shared_ptr<Robot> Robot::create_box(const Eigen::Vector3d& dims, const Eigen::Isometry3d& tf, const std::string& type, double mass, const Eigen::Vector4d& color, const std::string& box_name)\n {\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n\n return create_box(dims, x, type, mass, color, box_name);\n }\n\n std::shared_ptr<Robot> Robot::create_box(const Eigen::Vector3d& dims, const Eigen::Vector6d& pose, const std::string& type, double mass, const Eigen::Vector4d& color, const std::string& box_name)\n {\n ROBOT_DART_ASSERT((dims.array() > 0.).all(), \"Dimensions should be bigger than zero!\", nullptr);\n ROBOT_DART_ASSERT(mass > 0., \"Box mass should be bigger than zero!\", nullptr);\n\n dart::dynamics::SkeletonPtr box_skel = dart::dynamics::Skeleton::create(box_name);\n\n // Give the box a body\n dart::dynamics::BodyNodePtr body;\n if (type == \"free\")\n body = box_skel->createJointAndBodyNodePair<dart::dynamics::FreeJoint>(nullptr).second;\n else\n body = box_skel->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr).second;\n body->setName(box_name);\n\n // Give the body a shape\n auto box = std::make_shared<dart::dynamics::BoxShape>(dims);\n auto box_node = body->createShapeNodeWith<dart::dynamics::VisualAspect,\n dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(box);\n box_node->getVisualAspect()->setColor(color);\n // Set up inertia\n dart::dynamics::Inertia inertia;\n inertia.setMass(mass);\n inertia.setMoment(box->computeInertia(mass));\n body->setInertia(inertia);\n\n // Put the body into position\n auto robot = std::make_shared<Robot>(box_skel, box_name);\n\n if (type == \"free\") // free floating\n robot->set_positions(pose);\n else // fixed\n {\n Eigen::Isometry3d T;\n T.linear() = dart::math::expMapRot(pose.head<3>());\n T.translation() = pose.tail<3>();\n body->getParentJoint()->setTransformFromParentBodyNode(T);\n }\n\n return robot;\n }\n\n std::shared_ptr<Robot> Robot::create_ellipsoid(const Eigen::Vector3d& dims, const Eigen::Isometry3d& tf, const std::string& type, double mass, const Eigen::Vector4d& color, const std::string& ellipsoid_name)\n {\n Eigen::Vector6d x;\n x.head<3>() = dart::math::logMap(tf.linear());\n x.tail<3>() = tf.translation();\n\n return create_ellipsoid(dims, x, type, mass, color, ellipsoid_name);\n }\n\n std::shared_ptr<Robot> Robot::create_ellipsoid(const Eigen::Vector3d& dims, const Eigen::Vector6d& pose, const std::string& type, double mass, const Eigen::Vector4d& color, const std::string& ellipsoid_name)\n {\n ROBOT_DART_ASSERT((dims.array() > 0.).all(), \"Dimensions should be bigger than zero!\", nullptr);\n ROBOT_DART_ASSERT(mass > 0., \"Box mass should be bigger than zero!\", nullptr);\n\n dart::dynamics::SkeletonPtr ellipsoid_skel = dart::dynamics::Skeleton::create(ellipsoid_name);\n\n // Give the ellipsoid a body\n dart::dynamics::BodyNodePtr body;\n if (type == \"free\")\n body = ellipsoid_skel->createJointAndBodyNodePair<dart::dynamics::FreeJoint>(nullptr).second;\n else\n body = ellipsoid_skel->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr).second;\n body->setName(ellipsoid_name);\n\n // Give the body a shape\n auto ellipsoid = std::make_shared<dart::dynamics::EllipsoidShape>(dims);\n auto ellipsoid_node = body->createShapeNodeWith<dart::dynamics::VisualAspect,\n dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(ellipsoid);\n ellipsoid_node->getVisualAspect()->setColor(color);\n // Set up inertia\n dart::dynamics::Inertia inertia;\n inertia.setMass(mass);\n inertia.setMoment(ellipsoid->computeInertia(mass));\n body->setInertia(inertia);\n\n auto robot = std::make_shared<Robot>(ellipsoid_skel, ellipsoid_name);\n\n // Put the body into position\n if (type == \"free\") // free floating\n robot->set_positions(pose);\n else // fixed\n {\n Eigen::Isometry3d T;\n T.linear() = dart::math::expMapRot(pose.head<3>());\n T.translation() = pose.tail<3>();\n body->getParentJoint()->setTransformFromParentBodyNode(T);\n }\n\n return robot;\n }\n} // namespace robot_dart\nFileList > robot_dart > robot.hpp
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#include <unordered_map>#include <robot_dart/utils.hpp>The documentation for this class was generated from the following file robot_dart/robot.hpp
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#ifndef ROBOT_DART_ROBOT_HPP\n#define ROBOT_DART_ROBOT_HPP\n\n#include <unordered_map>\n\n#include <robot_dart/utils.hpp>\n\nnamespace robot_dart {\n class RobotDARTSimu;\n namespace control {\n class RobotControl;\n }\n\n class Robot : public std::enable_shared_from_this<Robot> {\n public:\n Robot(const std::string& model_file, const std::vector<std::pair<std::string, std::string>>& packages, const std::string& robot_name = \"robot\", bool is_urdf_string = false, bool cast_shadows = true);\n Robot(const std::string& model_file, const std::string& robot_name = \"robot\", bool is_urdf_string = false, bool cast_shadows = true);\n Robot(dart::dynamics::SkeletonPtr skeleton, const std::string& robot_name = \"robot\", bool cast_shadows = true);\n virtual ~Robot() {}\n\n std::shared_ptr<Robot> clone() const;\n std::shared_ptr<Robot> clone_ghost(const std::string& ghost_name = \"ghost\", const Eigen::Vector4d& ghost_color = {0.3, 0.3, 0.3, 0.7}) const;\n\n dart::dynamics::SkeletonPtr skeleton();\n dart::dynamics::BodyNode* body_node(const std::string& body_name);\n dart::dynamics::BodyNode* body_node(size_t body_index);\n\n dart::dynamics::Joint* joint(const std::string& joint_name);\n dart::dynamics::Joint* joint(size_t joint_index);\n\n dart::dynamics::DegreeOfFreedom* dof(const std::string& dof_name);\n dart::dynamics::DegreeOfFreedom* dof(size_t dof_index);\n\n const std::string& name() const;\n // to use the same urdf somewhere else\n const std::string& model_filename() const { return _model_filename; }\n const std::vector<std::pair<std::string, std::string>>& model_packages() const { return _packages; }\n\n void update(double t);\n\n void reinit_controllers();\n\n size_t num_controllers() const;\n std::vector<std::shared_ptr<control::RobotControl>> controllers() const;\n std::vector<std::shared_ptr<control::RobotControl>> active_controllers() const;\n\n std::shared_ptr<control::RobotControl> controller(size_t index) const;\n\n void add_controller(\n const std::shared_ptr<control::RobotControl>& controller, double weight = 1.0);\n void remove_controller(const std::shared_ptr<control::RobotControl>& controller);\n void remove_controller(size_t index);\n void clear_controllers();\n\n void fix_to_world();\n // pose: Orientation-Position\n void free_from_world(const Eigen::Vector6d& pose = Eigen::Vector6d::Zero());\n\n bool fixed() const;\n bool free() const;\n\n virtual void reset();\n\n void clear_external_forces();\n void clear_internal_forces();\n void reset_commands();\n\n // actuator type can be: torque, servo, velocity, passive, locked, mimic (only for completeness, use set_mimic to use this)\n // Be careful that actuator types are per joint and not per DoF\n void set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names = {}, bool override_mimic = false, bool override_base = false);\n void set_actuator_type(const std::string& type, const std::string& joint_name, bool override_mimic = false, bool override_base = false);\n void set_mimic(const std::string& joint_name, const std::string& mimic_joint_name, double multiplier = 1., double offset = 0.);\n\n std::string actuator_type(const std::string& joint_name) const;\n std::vector<std::string> actuator_types(const std::vector<std::string>& joint_names = {}) const;\n\n void set_position_enforced(const std::vector<bool>& enforced, const std::vector<std::string>& dof_names = {});\n void set_position_enforced(bool enforced, const std::vector<std::string>& dof_names = {});\n\n std::vector<bool> position_enforced(const std::vector<std::string>& dof_names = {}) const;\n\n void force_position_bounds();\n\n void set_damping_coeffs(const std::vector<double>& damps, const std::vector<std::string>& dof_names = {});\n void set_damping_coeffs(double damp, const std::vector<std::string>& dof_names = {});\n\n std::vector<double> damping_coeffs(const std::vector<std::string>& dof_names = {}) const;\n\n void set_coulomb_coeffs(const std::vector<double>& cfrictions, const std::vector<std::string>& dof_names = {});\n void set_coulomb_coeffs(double cfriction, const std::vector<std::string>& dof_names = {});\n\n std::vector<double> coulomb_coeffs(const std::vector<std::string>& dof_names = {}) const;\n\n void set_spring_stiffnesses(const std::vector<double>& stiffnesses, const std::vector<std::string>& dof_names = {});\n void set_spring_stiffnesses(double stiffness, const std::vector<std::string>& dof_names = {});\n\n std::vector<double> spring_stiffnesses(const std::vector<std::string>& dof_names = {}) const;\n\n // the friction direction is in local frame\n void set_friction_dir(const std::string& body_name, const Eigen::Vector3d& direction);\n void set_friction_dir(size_t body_index, const Eigen::Vector3d& direction);\n Eigen::Vector3d friction_dir(const std::string& body_name);\n Eigen::Vector3d friction_dir(size_t body_index);\n\n void set_friction_coeff(const std::string& body_name, double value);\n void set_friction_coeff(size_t body_index, double value);\n void set_friction_coeffs(double value);\n double friction_coeff(const std::string& body_name);\n double friction_coeff(size_t body_index);\n\n void set_secondary_friction_coeff(const std::string& body_name, double value);\n void set_secondary_friction_coeff(size_t body_index, double value);\n void set_secondary_friction_coeffs(double value);\n double secondary_friction_coeff(const std::string& body_name);\n double secondary_friction_coeff(size_t body_index);\n\n void set_restitution_coeff(const std::string& body_name, double value);\n void set_restitution_coeff(size_t body_index, double value);\n void set_restitution_coeffs(double value);\n double restitution_coeff(const std::string& body_name);\n double restitution_coeff(size_t body_index);\n\n Eigen::Isometry3d base_pose() const;\n Eigen::Vector6d base_pose_vec() const;\n void set_base_pose(const Eigen::Isometry3d& tf);\n void set_base_pose(const Eigen::Vector6d& pose);\n\n size_t num_dofs() const;\n size_t num_joints() const;\n size_t num_bodies() const;\n\n Eigen::Vector3d com() const;\n Eigen::Vector6d com_velocity() const;\n Eigen::Vector6d com_acceleration() const;\n\n Eigen::VectorXd positions(const std::vector<std::string>& dof_names = {}) const;\n void set_positions(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd position_lower_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_position_lower_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names = {});\n Eigen::VectorXd position_upper_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_position_upper_limits(const Eigen::VectorXd& positions, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd velocities(const std::vector<std::string>& dof_names = {}) const;\n void set_velocities(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd velocity_lower_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_velocity_lower_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names = {});\n Eigen::VectorXd velocity_upper_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_velocity_upper_limits(const Eigen::VectorXd& velocities, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd accelerations(const std::vector<std::string>& dof_names = {}) const;\n void set_accelerations(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd acceleration_lower_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_acceleration_lower_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names = {});\n Eigen::VectorXd acceleration_upper_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_acceleration_upper_limits(const Eigen::VectorXd& accelerations, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd forces(const std::vector<std::string>& dof_names = {}) const;\n void set_forces(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd force_lower_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_force_lower_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names = {});\n Eigen::VectorXd force_upper_limits(const std::vector<std::string>& dof_names = {}) const;\n void set_force_upper_limits(const Eigen::VectorXd& forces, const std::vector<std::string>& dof_names = {});\n\n Eigen::VectorXd commands(const std::vector<std::string>& dof_names = {}) const;\n void set_commands(const Eigen::VectorXd& commands, const std::vector<std::string>& dof_names = {});\n\n std::pair<Eigen::Vector6d, Eigen::Vector6d> force_torque(size_t joint_index) const;\n\n void set_external_force(const std::string& body_name, const Eigen::Vector3d& force, const Eigen::Vector3d& offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n void set_external_force(size_t body_index, const Eigen::Vector3d& force, const Eigen::Vector3d& offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n void add_external_force(const std::string& body_name, const Eigen::Vector3d& force, const Eigen::Vector3d& offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n void add_external_force(size_t body_index, const Eigen::Vector3d& force, const Eigen::Vector3d& offset = Eigen::Vector3d::Zero(), bool force_local = false, bool offset_local = true);\n\n void set_external_torque(const std::string& body_name, const Eigen::Vector3d& torque, bool local = false);\n void set_external_torque(size_t body_index, const Eigen::Vector3d& torque, bool local = false);\n void add_external_torque(const std::string& body_name, const Eigen::Vector3d& torque, bool local = false);\n void add_external_torque(size_t body_index, const Eigen::Vector3d& torque, bool local = false);\n\n Eigen::Vector6d external_forces(const std::string& body_name) const;\n Eigen::Vector6d external_forces(size_t body_index) const;\n\n Eigen::Isometry3d body_pose(const std::string& body_name) const;\n Eigen::Isometry3d body_pose(size_t body_index) const;\n\n Eigen::Vector6d body_pose_vec(const std::string& body_name) const;\n Eigen::Vector6d body_pose_vec(size_t body_index) const;\n\n Eigen::Vector6d body_velocity(const std::string& body_name) const;\n Eigen::Vector6d body_velocity(size_t body_index) const;\n\n Eigen::Vector6d body_acceleration(const std::string& body_name) const;\n Eigen::Vector6d body_acceleration(size_t body_index) const;\n\n std::vector<std::string> body_names() const;\n std::string body_name(size_t body_index) const;\n void set_body_name(size_t body_index, const std::string& body_name);\n size_t body_index(const std::string& body_name) const;\n\n double body_mass(const std::string& body_name) const;\n double body_mass(size_t body_index) const;\n void set_body_mass(const std::string& body_name, double mass);\n void set_body_mass(size_t body_index, double mass);\n void add_body_mass(const std::string& body_name, double mass);\n void add_body_mass(size_t body_index, double mass);\n\n Eigen::MatrixXd jacobian(const std::string& body_name, const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd jacobian_deriv(const std::string& body_name, const std::vector<std::string>& dof_names = {}) const;\n\n Eigen::MatrixXd com_jacobian(const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd com_jacobian_deriv(const std::vector<std::string>& dof_names = {}) const;\n\n Eigen::MatrixXd mass_matrix(const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd aug_mass_matrix(const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd inv_mass_matrix(const std::vector<std::string>& dof_names = {}) const;\n Eigen::MatrixXd inv_aug_mass_matrix(const std::vector<std::string>& dof_names = {}) const;\n\n Eigen::VectorXd coriolis_forces(const std::vector<std::string>& dof_names = {}) const;\n Eigen::VectorXd gravity_forces(const std::vector<std::string>& dof_names = {}) const;\n Eigen::VectorXd coriolis_gravity_forces(const std::vector<std::string>& dof_names = {}) const;\n Eigen::VectorXd constraint_forces(const std::vector<std::string>& dof_names = {}) const;\n\n // Get only the part of vector for DOFs in dof_names\n Eigen::VectorXd vec_dof(const Eigen::VectorXd& vec, const std::vector<std::string>& dof_names) const;\n\n void update_joint_dof_maps();\n const std::unordered_map<std::string, size_t>& dof_map() const;\n const std::unordered_map<std::string, size_t>& joint_map() const;\n\n std::vector<std::string> dof_names(bool filter_mimics = false, bool filter_locked = false, bool filter_passive = false) const;\n std::vector<std::string> mimic_dof_names() const;\n std::vector<std::string> locked_dof_names() const;\n std::vector<std::string> passive_dof_names() const;\n std::string dof_name(size_t dof_index) const;\n size_t dof_index(const std::string& dof_name) const;\n\n std::vector<std::string> joint_names() const;\n std::string joint_name(size_t joint_index) const;\n void set_joint_name(size_t joint_index, const std::string& joint_name);\n size_t joint_index(const std::string& joint_name) const;\n\n // MATERIAL_COLOR, COLOR_INDEX, SHAPE_COLOR\n // This applies only to MeshShapes. Color mode can be: \"material\", \"assimp\", or \"aspect\"\n // \"material\" -> uses the color of the material in the mesh file\n // \"assimp\" -> uses the color specified by aiMesh::mColor\n // \"aspect\" -> uses the color defined in the VisualAspect (if not changed, this is what read from the URDF)\n void set_color_mode(const std::string& color_mode);\n void set_color_mode(const std::string& color_mode, const std::string& body_name);\n\n void set_self_collision(bool enable_self_collisions = true, bool enable_adjacent_collisions = false);\n bool self_colliding() const;\n // This returns true if self colliding AND adjacent checks are on\n bool adjacent_colliding() const;\n\n // GUI options\n void set_cast_shadows(bool cast_shadows = true);\n bool cast_shadows() const;\n\n void set_ghost(bool ghost = true);\n bool ghost() const;\n\n void set_draw_axis(const std::string& body_name, double size = 0.25);\n void remove_all_drawing_axis();\n const std::vector<std::pair<dart::dynamics::BodyNode*, double>>& drawing_axes() const;\n\n // helper functions\n static std::shared_ptr<Robot> create_box(const Eigen::Vector3d& dims,\n const Eigen::Isometry3d& tf, const std::string& type = \"free\",\n double mass = 1.0, const Eigen::Vector4d& color = dart::Color::Red(1.0),\n const std::string& box_name = \"box\");\n // pose: 6D log_map\n static std::shared_ptr<Robot> create_box(const Eigen::Vector3d& dims,\n const Eigen::Vector6d& pose = Eigen::Vector6d::Zero(), const std::string& type = \"free\",\n double mass = 1.0, const Eigen::Vector4d& color = dart::Color::Red(1.0),\n const std::string& box_name = \"box\");\n\n static std::shared_ptr<Robot> create_ellipsoid(const Eigen::Vector3d& dims,\n const Eigen::Isometry3d& tf, const std::string& type = \"free\",\n double mass = 1.0, const Eigen::Vector4d& color = dart::Color::Red(1.0),\n const std::string& ellipsoid_name = \"ellipsoid\");\n // pose: 6D log_map\n static std::shared_ptr<Robot> create_ellipsoid(const Eigen::Vector3d& dims,\n const Eigen::Vector6d& pose = Eigen::Vector6d::Zero(), const std::string& type = \"free\",\n double mass = 1.0, const Eigen::Vector4d& color = dart::Color::Red(1.0),\n const std::string& ellipsoid_name = \"ellipsoid\");\n\n protected:\n std::string _get_path(const std::string& filename) const;\n dart::dynamics::SkeletonPtr _load_model(const std::string& filename, const std::vector<std::pair<std::string, std::string>>& packages = std::vector<std::pair<std::string, std::string>>(), bool is_urdf_string = false);\n\n void _set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::SkeletonPtr skel);\n void _set_color_mode(dart::dynamics::MeshShape::ColorMode color_mode, dart::dynamics::ShapeNode* sn);\n void _set_actuator_type(size_t joint_index, dart::dynamics::Joint::ActuatorType type, bool override_mimic = false, bool override_base = false);\n void _set_actuator_types(const std::vector<dart::dynamics::Joint::ActuatorType>& types, bool override_mimic = false, bool override_base = false);\n void _set_actuator_types(dart::dynamics::Joint::ActuatorType type, bool override_mimic = false, bool override_base = false);\n\n dart::dynamics::Joint::ActuatorType _actuator_type(size_t joint_index) const;\n std::vector<dart::dynamics::Joint::ActuatorType> _actuator_types() const;\n\n Eigen::MatrixXd _jacobian(const Eigen::MatrixXd& full_jacobian, const std::vector<std::string>& dof_names) const;\n Eigen::MatrixXd _mass_matrix(const Eigen::MatrixXd& full_mass_matrix, const std::vector<std::string>& dof_names) const;\n\n virtual void _post_addition(RobotDARTSimu*) {}\n virtual void _post_removal(RobotDARTSimu*) {}\n\n friend class RobotDARTSimu;\n\n std::string _robot_name;\n std::string _model_filename;\n std::vector<std::pair<std::string, std::string>> _packages;\n dart::dynamics::SkeletonPtr _skeleton;\n std::vector<std::shared_ptr<control::RobotControl>> _controllers;\n std::unordered_map<std::string, size_t> _dof_map, _joint_map;\n bool _cast_shadows;\n bool _is_ghost;\n std::vector<std::pair<dart::dynamics::BodyNode*, double>> _axis_shapes;\n };\n} // namespace robot_dart\n\n#endif\nFileList > control
"},{"location":"api/dir_1a1ccbdd0954eb7721b1a771872472c9/#files","title":"Files","text":"Type Name file pd_control.cpp file pd_control.hpp file policy_control.hpp file robot_control.cpp file robot_control.hpp file simple_control.cpp file simple_control.hppThe documentation for this class was generated from the following file robot_dart/control/
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#include \"pd_control.hpp\"#include \"robot_dart/robot.hpp\"#include \"robot_dart/utils.hpp\"#include \"robot_dart/utils_headers_dart_dynamics.hpp\"The documentation for this class was generated from the following file robot_dart/control/pd_control.cpp
File List > control > pd_control.cpp
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#include \"pd_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n namespace control {\n PDControl::PDControl() : RobotControl() {}\n PDControl::PDControl(const Eigen::VectorXd& ctrl, bool full_control, bool use_angular_errors) : RobotControl(ctrl, full_control), _use_angular_errors(use_angular_errors) {}\n PDControl::PDControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs, bool use_angular_errors) : RobotControl(ctrl, controllable_dofs), _use_angular_errors(use_angular_errors) {}\n\n void PDControl::configure()\n {\n if (_ctrl.size() == _control_dof)\n _active = true;\n\n if (_Kp.size() == 0)\n set_pd(10., 0.1);\n }\n\n Eigen::VectorXd PDControl::calculate(double)\n {\n ROBOT_DART_ASSERT(_control_dof == _ctrl.size(), \"PDControl: Controller parameters size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n auto robot = _robot.lock();\n\n Eigen::VectorXd dq = robot->velocities(_controllable_dofs);\n\n Eigen::VectorXd error;\n if (!_use_angular_errors) {\n Eigen::VectorXd q = robot->positions(_controllable_dofs);\n error = _ctrl - q;\n }\n else {\n error = Eigen::VectorXd::Zero(_control_dof);\n\n std::unordered_map<size_t, Eigen::VectorXd> joint_vals, joint_desired, errors;\n\n for (int i = 0; i < _control_dof; ++i) {\n auto dof = robot->dof(_controllable_dofs[i]);\n size_t joint_index = dof->getJoint()->getJointIndexInSkeleton();\n if (joint_vals.find(joint_index) == joint_vals.end()) {\n joint_vals[joint_index] = dof->getJoint()->getPositions();\n joint_desired[joint_index] = dof->getJoint()->getPositions();\n }\n\n joint_desired[joint_index][dof->getIndexInJoint()] = _ctrl[i];\n }\n\n for (int i = 0; i < _control_dof; ++i) {\n auto dof = robot->dof(_controllable_dofs[i]);\n size_t joint_index = dof->getJoint()->getJointIndexInSkeleton();\n size_t dof_index_in_joint = dof->getIndexInJoint();\n\n Eigen::VectorXd val;\n if (errors.find(joint_index) == errors.end()) {\n val = Eigen::VectorXd(dof->getJoint()->getNumDofs());\n\n std::string joint_type = robot->dof(_controllable_dofs[i])->getJoint()->getType();\n if (joint_type == dart::dynamics::RevoluteJoint::getStaticType()) {\n val[dof_index_in_joint] = _angle_dist(_ctrl[i], joint_vals[joint_index][dof_index_in_joint]);\n }\n else if (joint_type == dart::dynamics::BallJoint::getStaticType()) {\n Eigen::Matrix3d R_desired = dart::math::expMapRot(joint_desired[joint_index]);\n Eigen::Matrix3d R_current = dart::math::expMapRot(joint_vals[joint_index]);\n val = dart::math::logMap(R_desired * R_current.transpose());\n }\n else if (joint_type == dart::dynamics::EulerJoint::getStaticType()) {\n // TO-DO: Check if this is 100% correct\n for (size_t d = 0; d < dof->getJoint()->getNumDofs(); d++)\n val[d] = _angle_dist(joint_desired[joint_index][d], joint_vals[joint_index][d]);\n }\n else if (joint_type == dart::dynamics::FreeJoint::getStaticType()) {\n auto free_joint = static_cast<dart::dynamics::FreeJoint*>(dof->getJoint());\n\n Eigen::Isometry3d tf_desired = free_joint->convertToTransform(joint_desired[joint_index]);\n Eigen::Isometry3d tf_current = free_joint->convertToTransform(joint_vals[joint_index]);\n\n val.tail(3) = tf_desired.translation() - tf_current.translation();\n val.head(3) = dart::math::logMap(tf_desired.linear().matrix() * tf_current.linear().matrix().transpose());\n }\n else {\n val[dof_index_in_joint] = _ctrl[i] - joint_vals[joint_index][dof_index_in_joint];\n }\n\n errors[joint_index] = val;\n }\n else\n val = errors[joint_index];\n error(i) = val[dof_index_in_joint];\n }\n }\n\n Eigen::VectorXd commands = _Kp.array() * error.array() - _Kd.array() * dq.array();\n\n return commands;\n }\n\n void PDControl::set_pd(double Kp, double Kd)\n {\n _Kp = Eigen::VectorXd::Constant(_control_dof, Kp);\n _Kd = Eigen::VectorXd::Constant(_control_dof, Kd);\n }\n\n void PDControl::set_pd(const Eigen::VectorXd& Kp, const Eigen::VectorXd& Kd)\n {\n ROBOT_DART_ASSERT(Kp.size() == _control_dof, \"PDControl: The Kp size is not the same as the DOFs!\", );\n ROBOT_DART_ASSERT(Kd.size() == _control_dof, \"PDControl: The Kd size is not the same as the DOFs!\", );\n _Kp = Kp;\n _Kd = Kd;\n }\n\n std::pair<Eigen::VectorXd, Eigen::VectorXd> PDControl::pd() const\n {\n return std::make_pair(_Kp, _Kd);\n }\n\n bool PDControl::using_angular_errors() const { return _use_angular_errors; }\n\n void PDControl::set_use_angular_errors(bool enable) { _use_angular_errors = enable; }\n\n std::shared_ptr<RobotControl> PDControl::clone() const\n {\n return std::make_shared<PDControl>(*this);\n }\n\n double PDControl::_angle_dist(double target, double current)\n {\n double theta = target - current;\n while (theta < -M_PI)\n theta += 2 * M_PI;\n while (theta > M_PI)\n theta -= 2 * M_PI;\n return theta;\n }\n } // namespace control\n} // namespace robot_dart\nFileList > control > pd_control.hpp
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#include <utility>#include <robot_dart/control/robot_control.hpp>#include <robot_dart/robot.hpp>The documentation for this class was generated from the following file robot_dart/control/pd_control.hpp
File List > control > pd_control.hpp
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#ifndef ROBOT_DART_CONTROL_PD_CONTROL\n#define ROBOT_DART_CONTROL_PD_CONTROL\n\n#include <utility>\n\n#include <robot_dart/control/robot_control.hpp>\n#include <robot_dart/robot.hpp>\n\nnamespace robot_dart {\n namespace control {\n\n class PDControl : public RobotControl {\n public:\n PDControl();\n PDControl(const Eigen::VectorXd& ctrl, bool full_control = false, bool use_angular_errors = true);\n PDControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs, bool use_angular_errors = true);\n\n void configure() override;\n Eigen::VectorXd calculate(double) override;\n\n void set_pd(double p, double d);\n void set_pd(const Eigen::VectorXd& p, const Eigen::VectorXd& d);\n\n std::pair<Eigen::VectorXd, Eigen::VectorXd> pd() const;\n\n bool using_angular_errors() const;\n void set_use_angular_errors(bool enable = true);\n\n std::shared_ptr<RobotControl> clone() const override;\n\n protected:\n Eigen::VectorXd _Kp;\n Eigen::VectorXd _Kd;\n bool _use_angular_errors;\n\n static double _angle_dist(double target, double current);\n };\n } // namespace control\n} // namespace robot_dart\n#endif\nFileList > control > policy_control.hpp
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#include <robot_dart/control/robot_control.hpp>#include <robot_dart/robot.hpp>The documentation for this class was generated from the following file robot_dart/control/policy_control.hpp
File List > control > policy_control.hpp
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#ifndef ROBOT_DART_CONTROL_POLICY_CONTROL\n#define ROBOT_DART_CONTROL_POLICY_CONTROL\n\n#include <robot_dart/control/robot_control.hpp>\n#include <robot_dart/robot.hpp>\n\nnamespace robot_dart {\n namespace control {\n\n template <typename Policy>\n class PolicyControl : public RobotControl {\n public:\n PolicyControl() : RobotControl() {}\n PolicyControl(double dt, const Eigen::VectorXd& ctrl, bool full_control = false) : RobotControl(ctrl, full_control), _dt(dt), _first(true), _full_dt(false) {}\n PolicyControl(const Eigen::VectorXd& ctrl, bool full_control = false) : RobotControl(ctrl, full_control), _dt(0.), _first(true), _full_dt(true) {}\n PolicyControl(double dt, const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs) : RobotControl(ctrl, controllable_dofs), _dt(dt), _first(true), _full_dt(false) {}\n PolicyControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs) : RobotControl(ctrl, controllable_dofs), _dt(0.), _first(true), _full_dt(true) {}\n\n void configure() override\n {\n _policy.set_params(_ctrl);\n if (_policy.output_size() == _control_dof)\n _active = true;\n else\n ROBOT_DART_WARNING(_policy.output_size() != _control_dof, \"Control DoF != Policy output size. Policy is not active.\");\n auto robot = _robot.lock();\n if (_full_dt)\n _dt = robot->skeleton()->getTimeStep();\n _first = true;\n _i = 0;\n _threshold = -robot->skeleton()->getTimeStep() * 0.5;\n }\n\n void set_h_params(const Eigen::VectorXd& h_params)\n {\n _policy.set_h_params(h_params);\n }\n\n Eigen::VectorXd h_params() const\n {\n return _policy.h_params();\n }\n\n Eigen::VectorXd calculate(double t) override\n {\n ROBOT_DART_ASSERT(_control_dof == _policy.output_size(), \"PolicyControl: Policy output size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n if (_first || _full_dt || (t - _prev_time - _dt) >= _threshold) {\n _prev_commands = _policy.query(_robot.lock(), t);\n\n _first = false;\n _prev_time = t;\n _i++;\n }\n\n return _prev_commands;\n }\n\n std::shared_ptr<RobotControl> clone() const override\n {\n return std::make_shared<PolicyControl>(*this);\n }\n\n protected:\n int _i;\n Policy _policy;\n double _dt, _prev_time, _threshold;\n Eigen::VectorXd _prev_commands;\n bool _first, _full_dt;\n };\n } // namespace control\n} // namespace robot_dart\n\n#endif\nFileList > control > robot_control.cpp
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#include \"robot_control.hpp\"#include \"robot_dart/robot.hpp\"#include \"robot_dart/utils.hpp\"#include \"robot_dart/utils_headers_dart_dynamics.hpp\"The documentation for this class was generated from the following file robot_dart/control/robot_control.cpp
File List > control > robot_control.cpp
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#include \"robot_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n namespace control {\n RobotControl::RobotControl() : _weight(1.), _active(false), _check_free(true) {}\n RobotControl::RobotControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs) : _ctrl(ctrl), _weight(1.), _active(false), _check_free(false), _controllable_dofs(controllable_dofs) {}\n RobotControl::RobotControl(const Eigen::VectorXd& ctrl, bool full_control) : _ctrl(ctrl), _weight(1.), _active(false), _check_free(!full_control) {}\n\n void RobotControl::set_parameters(const Eigen::VectorXd& ctrl)\n {\n _ctrl = ctrl;\n _active = false;\n init();\n }\n\n const Eigen::VectorXd& RobotControl::parameters() const\n {\n return _ctrl;\n }\n\n void RobotControl::init()\n {\n ROBOT_DART_ASSERT(_robot.use_count() > 0, \"RobotControl: parent robot should be initialized; use set_robot()\", );\n auto robot = _robot.lock();\n _dof = robot->skeleton()->getNumDofs();\n\n if (_check_free && robot->free()) {\n auto names = robot->dof_names(true, true, true);\n _controllable_dofs = std::vector<std::string>(names.begin() + 6, names.end());\n }\n else if (_controllable_dofs.empty()) {\n // we cannot control mimic, locked and passive joints\n _controllable_dofs = robot->dof_names(true, true, true);\n }\n\n _control_dof = _controllable_dofs.size();\n\n configure();\n }\n\n void RobotControl::set_robot(const std::shared_ptr<Robot>& robot)\n {\n _robot = robot;\n }\n\n std::shared_ptr<Robot> RobotControl::robot() const\n {\n return _robot.lock();\n }\n\n void RobotControl::activate(bool enable)\n {\n _active = false;\n if (enable) {\n init();\n }\n }\n\n bool RobotControl::active() const\n {\n return _active;\n }\n\n const std::vector<std::string>& RobotControl::controllable_dofs() const { return _controllable_dofs; }\n\n double RobotControl::weight() const\n {\n return _weight;\n }\n\n void RobotControl::set_weight(double weight)\n {\n _weight = weight;\n }\n } // namespace control\n} // namespace robot_dart\nFileList > control > robot_control.hpp
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#include <robot_dart/utils.hpp>#include <memory>#include <vector>The documentation for this class was generated from the following file robot_dart/control/robot_control.hpp
File List > control > robot_control.hpp
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#ifndef ROBOT_DART_CONTROL_ROBOT_CONTROL\n#define ROBOT_DART_CONTROL_ROBOT_CONTROL\n\n#include <robot_dart/utils.hpp>\n\n#include <memory>\n#include <vector>\n\nnamespace robot_dart {\n class Robot;\n\n namespace control {\n\n class RobotControl {\n public:\n RobotControl();\n RobotControl(const Eigen::VectorXd& ctrl, bool full_control = false);\n RobotControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs);\n virtual ~RobotControl() {}\n\n void set_parameters(const Eigen::VectorXd& ctrl);\n const Eigen::VectorXd& parameters() const;\n\n void init();\n\n void set_robot(const std::shared_ptr<Robot>& robot);\n std::shared_ptr<Robot> robot() const;\n\n void activate(bool enable = true);\n bool active() const;\n\n const std::vector<std::string>& controllable_dofs() const;\n\n double weight() const;\n void set_weight(double weight);\n\n virtual void configure() = 0;\n // TO-DO: Maybe make this const?\n virtual Eigen::VectorXd calculate(double t) = 0;\n virtual std::shared_ptr<RobotControl> clone() const = 0;\n\n protected:\n std::weak_ptr<Robot> _robot;\n Eigen::VectorXd _ctrl;\n double _weight;\n bool _active, _check_free = false;\n int _dof, _control_dof;\n std::vector<std::string> _controllable_dofs;\n };\n } // namespace control\n} // namespace robot_dart\n\n#endif\nFileList > control > simple_control.cpp
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#include \"simple_control.hpp\"#include \"robot_dart/robot.hpp\"#include \"robot_dart/utils.hpp\"The documentation for this class was generated from the following file robot_dart/control/simple_control.cpp
File List > control > simple_control.cpp
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#include \"simple_control.hpp\"\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/utils.hpp\"\n\nnamespace robot_dart {\n namespace control {\n SimpleControl::SimpleControl() : RobotControl() {}\n SimpleControl::SimpleControl(const Eigen::VectorXd& ctrl, bool full_control) : RobotControl(ctrl, full_control) {}\n SimpleControl::SimpleControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs) : RobotControl(ctrl, controllable_dofs) {}\n\n void SimpleControl::configure()\n {\n if (_ctrl.size() == _control_dof)\n _active = true;\n }\n\n Eigen::VectorXd SimpleControl::calculate(double)\n {\n ROBOT_DART_ASSERT(_control_dof == _ctrl.size(), \"SimpleControl: Controller parameters size is not the same as DOFs of the robot\", Eigen::VectorXd::Zero(_control_dof));\n return _ctrl;\n }\n\n std::shared_ptr<RobotControl> SimpleControl::clone() const\n {\n return std::make_shared<SimpleControl>(*this);\n }\n } // namespace control\n} // namespace robot_dart\nFileList > control > simple_control.hpp
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#include <robot_dart/control/robot_control.hpp>The documentation for this class was generated from the following file robot_dart/control/simple_control.hpp
File List > control > simple_control.hpp
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#ifndef ROBOT_DART_CONTROL_SIMPLE_CONTROL\n#define ROBOT_DART_CONTROL_SIMPLE_CONTROL\n\n#include <robot_dart/control/robot_control.hpp>\n\nnamespace robot_dart {\n namespace control {\n\n class SimpleControl : public RobotControl {\n public:\n SimpleControl();\n SimpleControl(const Eigen::VectorXd& ctrl, bool full_control = false);\n SimpleControl(const Eigen::VectorXd& ctrl, const std::vector<std::string>& controllable_dofs);\n\n void configure() override;\n Eigen::VectorXd calculate(double) override;\n std::shared_ptr<RobotControl> clone() const override;\n };\n } // namespace control\n} // namespace robot_dart\n\n#endif\nFileList > gui
"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/#files","title":"Files","text":"Type Name file base.hpp file helper.cpp file helper.hpp file stb_image_write.h"},{"location":"api/dir_6a9d4b7ec29c938d1d9a486c655cfc8a/#directories","title":"Directories","text":"Type Name dir magnumThe documentation for this class was generated from the following file robot_dart/gui/
FileList > gui > base.hpp
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#include <robot_dart/gui/helper.hpp>The documentation for this class was generated from the following file robot_dart/gui/base.hpp
File List > gui > base.hpp
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#ifndef ROBOT_DART_GUI_BASE_HPP\n#define ROBOT_DART_GUI_BASE_HPP\n\n#include <robot_dart/gui/helper.hpp>\n\nnamespace robot_dart {\n class RobotDARTSimu;\n\n namespace gui {\n class Base {\n public:\n Base() {}\n\n virtual ~Base() {}\n\n virtual void set_simu(RobotDARTSimu* simu) { _simu = simu; }\n const RobotDARTSimu* simu() const { return _simu; }\n\n virtual bool done() const { return false; }\n\n virtual void refresh() {}\n\n virtual void set_render_period(double) {}\n\n virtual void set_enable(bool) {}\n virtual void set_fps(int) {}\n\n virtual Image image() { return Image(); }\n virtual GrayscaleImage depth_image() { return GrayscaleImage(); }\n virtual GrayscaleImage raw_depth_image() { return GrayscaleImage(); }\n virtual DepthImage depth_array() { return DepthImage(); }\n\n virtual size_t width() const { return 0; }\n virtual size_t height() const { return 0; }\n\n protected:\n RobotDARTSimu* _simu = nullptr;\n };\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > helper.cpp
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#include \"helper.hpp\"#include \"stb_image_write.h\"#define STB_IMAGE_WRITE_IMPLEMENTATION \nThe documentation for this class was generated from the following file robot_dart/gui/helper.cpp
File List > gui > helper.cpp
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#include \"helper.hpp\"\n\n#define STB_IMAGE_WRITE_IMPLEMENTATION\n#include \"stb_image_write.h\"\n\nnamespace robot_dart {\n namespace gui {\n void save_png_image(const std::string& filename, const Image& rgb)\n {\n auto ends_with = [](const std::string& value, const std::string& ending) {\n if (ending.size() > value.size())\n return false;\n return std::equal(ending.rbegin(), ending.rend(), value.rbegin());\n };\n\n std::string png = \".png\";\n if (ends_with(filename, png))\n png = \"\";\n\n stbi_write_png((filename + png).c_str(), rgb.width, rgb.height, rgb.channels, rgb.data.data(), rgb.width * rgb.channels);\n }\n\n void save_png_image(const std::string& filename, const GrayscaleImage& gray)\n {\n auto ends_with = [](const std::string& value, const std::string& ending) {\n if (ending.size() > value.size())\n return false;\n return std::equal(ending.rbegin(), ending.rend(), value.rbegin());\n };\n\n std::string png = \".png\";\n if (ends_with(filename, png))\n png = \"\";\n\n stbi_write_png((filename + png).c_str(), gray.width, gray.height, 1, gray.data.data(), gray.width);\n }\n\n GrayscaleImage convert_rgb_to_grayscale(const Image& rgb)\n {\n assert(rgb.channels == 3);\n size_t width = rgb.width;\n size_t height = rgb.height;\n\n GrayscaleImage gray;\n gray.width = width;\n gray.height = height;\n gray.data.resize(width * height);\n\n for (size_t h = 0; h < height; h++) {\n for (size_t w = 0; w < width; w++) {\n int id = w + h * width;\n int id_rgb = w * rgb.channels + h * (width * rgb.channels);\n uint8_t color = 0.3 * rgb.data[id_rgb + 0] + 0.59 * rgb.data[id_rgb + 1] + 0.11 * rgb.data[id_rgb + 2];\n gray.data[id] = color;\n }\n }\n\n return gray;\n }\n\n std::vector<Eigen::Vector3d> point_cloud_from_depth_array(const DepthImage& depth_image, const Eigen::Matrix3d& intrinsic_matrix, const Eigen::Matrix4d& tf, double far_plane)\n {\n // This is assuming that K is normal intrisinc matrix (i.e., camera pointing to +Z),\n // but an OpenGL camera (i.e., pointing to -Z). Thus it transforms the points accordingly\n // TO-DO: Format the intrinsic matrix correctly, and take as an argument the camera orientation\n // with respect to the normal cameras. See http://ksimek.github.io/2013/06/03/calibrated_cameras_in_opengl/.\n auto point_3d = [](const Eigen::Matrix3d& K, size_t u, size_t v, double depth) {\n double fx = K(0, 0);\n double fy = K(1, 1);\n double cx = K(0, 2);\n double cy = K(1, 2);\n double gamma = K(0, 1);\n\n Eigen::Vector3d p;\n p << 0., 0., -depth;\n\n p(1) = (cy - v) * depth / fy;\n p(0) = -((cx - u) * depth - gamma * p(1)) / fx;\n\n return p;\n };\n\n std::vector<Eigen::Vector3d> point_cloud;\n\n size_t height = depth_image.height;\n size_t width = depth_image.width;\n for (size_t h = 0; h < height; h++) {\n for (size_t w = 0; w < width; w++) {\n int id = w + h * width;\n if (depth_image.data[id] >= 0.99 * far_plane) // close to far plane\n continue;\n Eigen::Vector4d pp;\n pp.head(3) = point_3d(intrinsic_matrix, w, h, depth_image.data[id]);\n pp.tail(1) << 1.;\n pp = tf.inverse() * pp;\n\n point_cloud.push_back(pp.head(3));\n }\n }\n\n return point_cloud;\n }\n } // namespace gui\n} // namespace robot_dart\nFileList > gui > helper.hpp
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#include <string>#include <vector>#include <robot_dart/utils.hpp>The documentation for this class was generated from the following file robot_dart/gui/helper.hpp
File List > gui > helper.hpp
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#ifndef ROBOT_DART_GUI_HELPER_HPP\n#define ROBOT_DART_GUI_HELPER_HPP\n\n#include <string>\n#include <vector>\n\n#include <robot_dart/utils.hpp>\n\nnamespace robot_dart {\n namespace gui {\n struct Image {\n size_t width = 0, height = 0;\n size_t channels = 3;\n std::vector<uint8_t> data;\n };\n\n struct GrayscaleImage {\n size_t width = 0, height = 0;\n std::vector<uint8_t> data;\n };\n\n struct DepthImage {\n size_t width = 0, height = 0;\n std::vector<double> data;\n };\n\n void save_png_image(const std::string& filename, const Image& rgb);\n void save_png_image(const std::string& filename, const GrayscaleImage& gray);\n\n GrayscaleImage convert_rgb_to_grayscale(const Image& rgb);\n\n std::vector<Eigen::Vector3d> point_cloud_from_depth_array(const DepthImage& depth_image, const Eigen::Matrix3d& intrinsic_matrix, const Eigen::Matrix4d& tf, double far_plane = 1000.);\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum
"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/#files","title":"Files","text":"Type Name file base_application.cpp file base_application.hpp file base_graphics.hpp file drawables.cpp file drawables.hpp file glfw_application.cpp file glfw_application.hpp file graphics.cpp file graphics.hpp file types.hpp file utils_headers_eigen.hpp file windowless_gl_application.cpp file windowless_gl_application.hpp file windowless_graphics.cpp file windowless_graphics.hpp"},{"location":"api/dir_5d18adecbc10cabf3ca51da31f2acdd1/#directories","title":"Directories","text":"Type Name dir gs dir sensorThe documentation for this class was generated from the following file robot_dart/gui/magnum/
FileList > gui > magnum > base_application.cpp
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#include \"base_application.hpp\"#include <robot_dart/gui/magnum/gs/helper.hpp>#include <robot_dart/robot_dart_simu.hpp>#include <robot_dart/utils.hpp>#include <robot_dart/utils_headers_dart_dynamics.hpp>#include <Corrade/Containers/StridedArrayView.h>#include <Corrade/Utility/Resource.h>#include <Magnum/GL/CubeMapTexture.h>#include <Magnum/GL/DefaultFramebuffer.h>#include <Magnum/GL/Renderer.h>#include <Magnum/GL/Texture.h>#include <Magnum/GL/TextureFormat.h>#include <Magnum/MeshTools/Compile.h>#include <Magnum/MeshTools/CompressIndices.h>#include <Magnum/MeshTools/Interleave.h>#include <Magnum/Primitives/Axis.h>#include <Magnum/Primitives/Square.h>#include <Magnum/Trade/MeshData.h>#include <Magnum/Trade/PhongMaterialData.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.cpp
File: api/base__application_8cpp_source.md
Line 88 in Markdown file: Expected an expression, got 'end of print statement'
_gl_contexts.emplace_back(Magnum::Platform::WindowlessGLContext{{}});\nFileList > gui > magnum > base_application.hpp
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#include <mutex>#include <unistd.h>#include <unordered_map>#include <robot_dart/gui/helper.hpp>#include <robot_dart/gui/magnum/drawables.hpp>#include <robot_dart/gui/magnum/gs/camera.hpp>#include <robot_dart/gui/magnum/gs/cube_map.hpp>#include <robot_dart/gui/magnum/gs/cube_map_color.hpp>#include <robot_dart/gui/magnum/gs/phong_multi_light.hpp>#include <robot_dart/gui/magnum/gs/shadow_map.hpp>#include <robot_dart/gui/magnum/gs/shadow_map_color.hpp>#include <robot_dart/gui/magnum/types.hpp>#include <robot_dart/utils_headers_external_gui.hpp>#include <Magnum/GL/CubeMapTextureArray.h>#include <Magnum/GL/Framebuffer.h>#include <Magnum/GL/Mesh.h>#include <Magnum/GL/TextureArray.h>#include <Magnum/Platform/GLContext.h>#include <Magnum/Platform/WindowlessEglApplication.h>#include <Magnum/Shaders/DistanceFieldVector.h>#include <Magnum/Shaders/Flat.h>#include <Magnum/Shaders/VertexColor.h>#include <Magnum/Text/AbstractFont.h>#include <Magnum/Text/DistanceFieldGlyphCache.h>#include <Magnum/Text/Renderer.h>#define get_gl_context (\n name\n) get_gl_context_with_sleep(name, 0)\n#define get_gl_context_with_sleep (\n name,\n ms_sleep\n) /* Create/Get GLContext */ \\\n Corrade::Utility::Debug name##_magnum_silence_output{nullptr}; \\\n Magnum::Platform::WindowlessGLContext* name = nullptr; \\\n while (name == nullptr) { \\\n name = robot_dart::gui::magnum::GlobalData::instance()->gl_context(); \\\n /* Sleep for some ms */ \\\n usleep(ms_sleep * 1000); \\\n } \\\n while (!name->makeCurrent()) { \\\n /* Sleep for some ms */ \\\n usleep(ms_sleep * 1000); \\\n } \\\n \\\n Magnum::Platform::GLContext name##_magnum_context;\n#define release_gl_context (\n name\n) robot_dart::gui::magnum::GlobalData::instance()->free_gl_context(name);\nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_application.hpp
File List > gui > magnum > base_application.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_BASE_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_BASE_APPLICATION_HPP\n\n#include <mutex>\n#include <unistd.h>\n#include <unordered_map>\n\n#include <robot_dart/gui/helper.hpp>\n#include <robot_dart/gui/magnum/drawables.hpp>\n#include <robot_dart/gui/magnum/gs/camera.hpp>\n#include <robot_dart/gui/magnum/gs/cube_map.hpp>\n#include <robot_dart/gui/magnum/gs/cube_map_color.hpp>\n#include <robot_dart/gui/magnum/gs/phong_multi_light.hpp>\n#include <robot_dart/gui/magnum/gs/shadow_map.hpp>\n#include <robot_dart/gui/magnum/gs/shadow_map_color.hpp>\n#include <robot_dart/gui/magnum/types.hpp>\n\n#include <robot_dart/utils_headers_external_gui.hpp>\n\n#include <Magnum/GL/CubeMapTextureArray.h>\n#include <Magnum/GL/Framebuffer.h>\n#include <Magnum/GL/Mesh.h>\n#include <Magnum/GL/TextureArray.h>\n#include <Magnum/Platform/GLContext.h>\n#ifndef MAGNUM_MAC_OSX\n#include <Magnum/Platform/WindowlessEglApplication.h>\n#else\n#include <Magnum/Platform/WindowlessCglApplication.h>\n#endif\n#include <Magnum/Shaders/DistanceFieldVector.h>\n#include <Magnum/Shaders/Flat.h>\n#include <Magnum/Shaders/VertexColor.h>\n\n#include <Magnum/Text/AbstractFont.h>\n#include <Magnum/Text/DistanceFieldGlyphCache.h>\n#include <Magnum/Text/Renderer.h>\n\n#define get_gl_context_with_sleep(name, ms_sleep) \\\n /* Create/Get GLContext */ \\\n Corrade::Utility::Debug name##_magnum_silence_output{nullptr}; \\\n Magnum::Platform::WindowlessGLContext* name = nullptr; \\\n while (name == nullptr) { \\\n name = robot_dart::gui::magnum::GlobalData::instance()->gl_context(); \\\n /* Sleep for some ms */ \\\n usleep(ms_sleep * 1000); \\\n } \\\n while (!name->makeCurrent()) { \\\n /* Sleep for some ms */ \\\n usleep(ms_sleep * 1000); \\\n } \\\n \\\n Magnum::Platform::GLContext name##_magnum_context;\n\n#define get_gl_context(name) get_gl_context_with_sleep(name, 0)\n\n#define release_gl_context(name) robot_dart::gui::magnum::GlobalData::instance()->free_gl_context(name);\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n struct GlobalData {\n public:\n static GlobalData* instance()\n {\n static GlobalData gdata;\n return &gdata;\n }\n\n GlobalData(const GlobalData&) = delete;\n void operator=(const GlobalData&) = delete;\n\n Magnum::Platform::WindowlessGLContext* gl_context();\n void free_gl_context(Magnum::Platform::WindowlessGLContext* context);\n\n /* You should call this before starting to draw or after finished */\n void set_max_contexts(size_t N);\n\n private:\n GlobalData() = default;\n ~GlobalData() = default;\n\n void _create_contexts();\n\n std::vector<Magnum::Platform::WindowlessGLContext> _gl_contexts;\n std::vector<bool> _used;\n std::mutex _context_mutex;\n size_t _max_contexts = 4;\n };\n\n struct GraphicsConfiguration {\n // General\n size_t width = 640;\n size_t height = 480;\n std::string title = \"DART\";\n\n // Shadows\n bool shadowed = true;\n bool transparent_shadows = true;\n size_t shadow_map_size = 1024;\n\n // Lights\n size_t max_lights = 3;\n double specular_strength = 0.25; // strength of the specular component\n\n // These options are only for the main camera\n bool draw_main_camera = true;\n bool draw_debug = true;\n bool draw_text = true;\n\n // Background (default = black)\n Eigen::Vector4d bg_color{0.0, 0.0, 0.0, 1.0};\n };\n\n struct DebugDrawData {\n Magnum::Shaders::VertexColorGL3D* axes_shader;\n Magnum::GL::Mesh* axes_mesh;\n Magnum::Shaders::FlatGL2D* background_shader;\n Magnum::GL::Mesh* background_mesh;\n\n Magnum::Shaders::DistanceFieldVectorGL2D* text_shader;\n Magnum::GL::Buffer* text_vertices;\n Magnum::GL::Buffer* text_indices;\n Magnum::Text::AbstractFont* font;\n Magnum::Text::DistanceFieldGlyphCache* cache;\n };\n\n class BaseApplication {\n public:\n BaseApplication(const GraphicsConfiguration& configuration = GraphicsConfiguration());\n virtual ~BaseApplication() {}\n\n void init(RobotDARTSimu* simu, const GraphicsConfiguration& configuration);\n\n void clear_lights();\n void add_light(const gs::Light& light);\n gs::Light& light(size_t i);\n std::vector<gs::Light>& lights();\n size_t num_lights() const;\n\n Magnum::SceneGraph::DrawableGroup3D& drawables() { return _drawables; }\n Scene3D& scene() { return _scene; }\n gs::Camera& camera() { return *_camera; }\n const gs::Camera& camera() const { return *_camera; }\n\n bool done() const;\n\n void look_at(const Eigen::Vector3d& camera_pos,\n const Eigen::Vector3d& look_at,\n const Eigen::Vector3d& up);\n\n virtual void render() {}\n\n void update_lights(const gs::Camera& camera);\n void update_graphics();\n void render_shadows();\n\n bool attach_camera(gs::Camera& camera, dart::dynamics::BodyNode* body);\n\n // video (FPS is mandatory here, see the Graphics class for automatic computation)\n void record_video(const std::string& video_fname, int fps) { _camera->record_video(video_fname, fps); }\n\n bool shadowed() const { return _shadowed; }\n bool transparent_shadows() const { return _transparent_shadows; }\n void enable_shadows(bool enable = true, bool drawTransparentShadows = false);\n\n Corrade::Containers::Optional<Magnum::Image2D>& image() { return _camera->image(); }\n\n // This is for visualization purposes\n GrayscaleImage depth_image();\n\n // Image filled with depth buffer values\n GrayscaleImage raw_depth_image();\n\n // \"Image\" filled with depth buffer values (this returns an array of doubles)\n DepthImage depth_array();\n\n // Access to debug data\n DebugDrawData debug_draw_data()\n {\n DebugDrawData data;\n data.axes_shader = _3D_axis_shader.get();\n data.background_shader = _background_shader.get();\n data.axes_mesh = _3D_axis_mesh.get();\n data.background_mesh = _background_mesh.get();\n data.text_shader = _text_shader.get();\n data.text_vertices = _text_vertices.get();\n data.text_indices = _text_indices.get();\n data.font = _font.get();\n data.cache = _glyph_cache.get();\n\n return data;\n }\n\n protected:\n /* Magnum */\n Scene3D _scene;\n Magnum::SceneGraph::DrawableGroup3D _drawables, _shadowed_drawables, _shadowed_color_drawables, _cubemap_drawables, _cubemap_color_drawables;\n std::unique_ptr<gs::PhongMultiLight> _color_shader, _texture_shader;\n\n std::unique_ptr<gs::Camera> _camera;\n\n bool _done = false;\n\n /* GUI Config */\n GraphicsConfiguration _configuration;\n\n /* DART */\n RobotDARTSimu* _simu;\n std::unique_ptr<Magnum::DartIntegration::World> _dart_world;\n std::unordered_map<Magnum::DartIntegration::Object*, ObjectStruct*> _drawable_objects;\n std::vector<gs::Light> _lights;\n\n /* Shadows */\n bool _shadowed = true, _transparent_shadows = false;\n int _transparentSize = 0;\n std::unique_ptr<gs::ShadowMap> _shadow_shader, _shadow_texture_shader;\n std::unique_ptr<gs::ShadowMapColor> _shadow_color_shader, _shadow_texture_color_shader;\n std::unique_ptr<gs::CubeMap> _cubemap_shader, _cubemap_texture_shader;\n std::unique_ptr<gs::CubeMapColor> _cubemap_color_shader, _cubemap_texture_color_shader;\n std::vector<ShadowData> _shadow_data;\n std::unique_ptr<Magnum::GL::Texture2DArray> _shadow_texture, _shadow_color_texture;\n std::unique_ptr<Magnum::GL::CubeMapTextureArray> _shadow_cube_map, _shadow_color_cube_map;\n int _max_lights = 5;\n int _shadow_map_size = 512;\n std::unique_ptr<Camera3D> _shadow_camera;\n Object3D* _shadow_camera_object;\n\n /* Debug visualization */\n std::unique_ptr<Magnum::GL::Mesh> _3D_axis_mesh;\n std::unique_ptr<Magnum::Shaders::VertexColorGL3D> _3D_axis_shader;\n std::unique_ptr<Magnum::GL::Mesh> _background_mesh;\n std::unique_ptr<Magnum::Shaders::FlatGL2D> _background_shader;\n\n /* Text visualization */\n std::unique_ptr<Magnum::Shaders::DistanceFieldVectorGL2D> _text_shader;\n Corrade::PluginManager::Manager<Magnum::Text::AbstractFont> _font_manager;\n Corrade::Containers::Pointer<Magnum::Text::DistanceFieldGlyphCache> _glyph_cache;\n Corrade::Containers::Pointer<Magnum::Text::AbstractFont> _font;\n Corrade::Containers::Pointer<Magnum::GL::Buffer> _text_vertices;\n Corrade::Containers::Pointer<Magnum::GL::Buffer> _text_indices;\n\n /* Importer */\n Corrade::PluginManager::Manager<Magnum::Trade::AbstractImporter> _importer_manager;\n\n void _gl_clean_up();\n void _prepare_shadows();\n };\n\n template <typename T>\n inline BaseApplication* make_application(RobotDARTSimu* simu, const GraphicsConfiguration& configuration = GraphicsConfiguration())\n {\n int argc = 0;\n char** argv = NULL;\n\n return new T(argc, argv, simu, configuration);\n // configuration.width, configuration.height, configuration.shadowed, configuration.transparent_shadows, configuration.max_lights, configuration.shadow_map_size);\n }\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > base_graphics.hpp
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#include <robot_dart/gui/base.hpp>#include <robot_dart/gui/magnum/glfw_application.hpp>#include <robot_dart/gui/magnum/gs/helper.hpp>#include <robot_dart/gui/magnum/utils_headers_eigen.hpp>#include <robot_dart/robot_dart_simu.hpp>#include <Corrade/Utility/Resource.h>static inline void robot_dart_initialize_magnum_resources () \nThe documentation for this class was generated from the following file robot_dart/gui/magnum/base_graphics.hpp
File List > gui > magnum > base_graphics.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_BASE_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_BASE_GRAPHICS_HPP\n\n#include <robot_dart/gui/base.hpp>\n#include <robot_dart/gui/magnum/glfw_application.hpp>\n#include <robot_dart/gui/magnum/gs/helper.hpp>\n#include <robot_dart/gui/magnum/utils_headers_eigen.hpp>\n#include <robot_dart/robot_dart_simu.hpp>\n\n// We need this for CORRADE_RESOURCE_INITIALIZE\n#include <Corrade/Utility/Resource.h>\n\ninline static void robot_dart_initialize_magnum_resources()\n{\n CORRADE_RESOURCE_INITIALIZE(RobotDARTShaders);\n}\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n template <typename T = GlfwApplication>\n class BaseGraphics : public Base {\n public:\n BaseGraphics(const GraphicsConfiguration& configuration = GraphicsConfiguration())\n : _configuration(configuration), _enabled(true)\n {\n robot_dart_initialize_magnum_resources();\n }\n\n virtual ~BaseGraphics() {}\n\n virtual void set_simu(RobotDARTSimu* simu) override\n {\n ROBOT_DART_EXCEPTION_ASSERT(simu, \"Simulation pointer is null!\");\n _simu = simu;\n _magnum_app.reset(make_application<T>(simu, _configuration));\n }\n\n size_t width() const override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->camera().width();\n }\n\n size_t height() const override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->camera().height();\n }\n\n bool done() const override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->done();\n }\n\n void refresh() override\n {\n if (!_enabled)\n return;\n\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->render();\n }\n\n void set_enable(bool enable) override\n {\n _enabled = enable;\n }\n\n void set_fps(int fps) override { _fps = fps; }\n\n void look_at(const Eigen::Vector3d& camera_pos,\n const Eigen::Vector3d& look_at = Eigen::Vector3d(0, 0, 0),\n const Eigen::Vector3d& up = Eigen::Vector3d(0, 0, 1))\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->look_at(camera_pos, look_at, up);\n }\n\n void clear_lights()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->clear_lights();\n }\n\n void add_light(const magnum::gs::Light& light)\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->add_light(light);\n }\n\n std::vector<gs::Light>& lights()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->lights();\n }\n\n size_t num_lights() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->num_lights();\n }\n\n magnum::gs::Light& light(size_t i)\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->light(i);\n }\n\n void record_video(const std::string& video_fname, int fps = -1)\n {\n int fps_computed = (fps == -1) ? _fps : fps;\n ROBOT_DART_EXCEPTION_ASSERT(fps_computed != -1, \"Video FPS not set!\");\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n\n _magnum_app->record_video(video_fname, fps_computed);\n }\n\n bool shadowed() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->shadowed();\n }\n\n bool transparent_shadows() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->transparent_shadows();\n }\n\n void enable_shadows(bool enable = true, bool transparent = true)\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n _magnum_app->enable_shadows(enable, transparent);\n }\n\n Magnum::Image2D* magnum_image()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n if (_magnum_app->image())\n return &(*_magnum_app->image());\n return nullptr;\n }\n\n Image image() override\n {\n auto image = magnum_image();\n if (image)\n return gs::rgb_from_image(image);\n return Image();\n }\n\n GrayscaleImage depth_image() override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->depth_image();\n }\n\n GrayscaleImage raw_depth_image() override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->raw_depth_image();\n }\n\n DepthImage depth_array() override\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->depth_array();\n }\n\n gs::Camera& camera()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->camera();\n }\n\n const gs::Camera& camera() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return _magnum_app->camera();\n }\n\n Eigen::Matrix3d camera_intrinsic_matrix() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return Magnum::EigenIntegration::cast<Eigen::Matrix3d>(Magnum::Matrix3d(_magnum_app->camera().intrinsic_matrix()));\n }\n\n Eigen::Matrix4d camera_extrinsic_matrix() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return Magnum::EigenIntegration::cast<Eigen::Matrix4d>(Magnum::Matrix4d(_magnum_app->camera().extrinsic_matrix()));\n }\n\n BaseApplication* magnum_app()\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return &*_magnum_app;\n }\n\n const BaseApplication* magnum_app() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_magnum_app, \"MagnumApp pointer is null!\");\n return &*_magnum_app;\n }\n\n protected:\n GraphicsConfiguration _configuration;\n bool _enabled;\n int _fps;\n std::unique_ptr<BaseApplication> _magnum_app;\n\n Corrade::Utility::Debug _magnum_silence_output{nullptr};\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > drawables.cpp
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#include <robot_dart/gui/magnum/drawables.hpp>#include <robot_dart/gui_data.hpp>#include <robot_dart/robot_dart_simu.hpp>#include <robot_dart/utils.hpp>#include <Magnum/GL/CubeMapTexture.h>#include <Magnum/GL/DefaultFramebuffer.h>#include <Magnum/GL/Mesh.h>#include <Magnum/GL/Renderer.h>#include <Magnum/GL/AbstractFramebuffer.h>#include <Magnum/GL/GL.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.cpp
File List > gui > magnum > drawables.cpp
Go to the documentation of this file
#include <robot_dart/gui/magnum/drawables.hpp>\n#include <robot_dart/gui_data.hpp>\n#include <robot_dart/robot_dart_simu.hpp>\n#include <robot_dart/utils.hpp>\n\n#include <Magnum/GL/CubeMapTexture.h>\n#include <Magnum/GL/DefaultFramebuffer.h>\n#include <Magnum/GL/Mesh.h>\n#include <Magnum/GL/Renderer.h>\n\n#include <Magnum/GL/AbstractFramebuffer.h>\n#include <Magnum/GL/GL.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n // DrawableObject\n DrawableObject::DrawableObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n const std::vector<gs::Material>& materials,\n gs::PhongMultiLight& color,\n gs::PhongMultiLight& texture,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _color_shader{color},\n _texture_shader{texture},\n _materials(materials)\n {\n _is_soft_body.resize(_meshes.size(), false);\n }\n\n DrawableObject& DrawableObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_soft_bodies(const std::vector<bool>& softBody)\n {\n _is_soft_body = softBody;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n\n _has_negative_scaling.resize(_scalings.size());\n for (size_t i = 0; i < scalings.size(); i++) {\n _has_negative_scaling[i] = false;\n for (size_t j = 0; j < 3; j++)\n if (_scalings[i][j] < 0.f) {\n _has_negative_scaling[i] = true;\n break;\n }\n }\n\n return *this;\n }\n\n DrawableObject& DrawableObject::set_transparent(bool transparent)\n {\n _isTransparent = transparent;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_color_shader(std::reference_wrapper<gs::PhongMultiLight> shader)\n {\n _color_shader = shader;\n return *this;\n }\n\n DrawableObject& DrawableObject::set_texture_shader(std::reference_wrapper<gs::PhongMultiLight> shader)\n {\n _texture_shader = shader;\n return *this;\n }\n\n void DrawableObject::draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera)\n {\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (_is_soft_body[i])\n Magnum::GL::Renderer::disable(Magnum::GL::Renderer::Feature::FaceCulling);\n else if (_has_negative_scaling[i])\n Magnum::GL::Renderer::setFaceCullingMode(Magnum::GL::Renderer::PolygonFacing::Front);\n if (isColor) {\n _color_shader.get()\n .set_material(_materials[i])\n .set_transformation_matrix(absoluteTransformationMatrix() * scalingMatrix)\n .set_normal_matrix((transformationMatrix * scalingMatrix).rotationScaling())\n .set_camera_matrix(camera.cameraMatrix())\n .set_projection_matrix(camera.projectionMatrix())\n .draw(mesh);\n }\n else {\n _texture_shader.get()\n .set_material(_materials[i])\n .set_transformation_matrix(absoluteTransformationMatrix() * scalingMatrix)\n .set_normal_matrix((transformationMatrix * scalingMatrix).rotationScaling())\n .set_camera_matrix(camera.cameraMatrix())\n .set_projection_matrix(camera.projectionMatrix())\n .draw(mesh);\n }\n\n if (_is_soft_body[i])\n Magnum::GL::Renderer::enable(Magnum::GL::Renderer::Feature::FaceCulling);\n else if (_has_negative_scaling[i])\n Magnum::GL::Renderer::setFaceCullingMode(Magnum::GL::Renderer::PolygonFacing::Back);\n }\n }\n\n // ShadowedObject\n ShadowedObject::ShadowedObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::ShadowMap& shader,\n gs::ShadowMap& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _shader{shader},\n _texture_shader(texture_shader) {}\n\n ShadowedObject& ShadowedObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n ShadowedObject& ShadowedObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n ShadowedObject& ShadowedObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n return *this;\n }\n\n void ShadowedObject::draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera)\n {\n if (!_simu->gui_data()->cast_shadows(_shape))\n return;\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (isColor) {\n (_shader.get())\n .set_transformation_matrix(transformationMatrix * scalingMatrix)\n .set_projection_matrix(camera.projectionMatrix())\n .set_material(_materials[i])\n .draw(mesh);\n }\n else {\n (_texture_shader.get())\n .set_transformation_matrix(transformationMatrix * scalingMatrix)\n .set_projection_matrix(camera.projectionMatrix())\n .set_material(_materials[i])\n .draw(mesh);\n }\n }\n }\n\n // ShadowedColorObject\n ShadowedColorObject::ShadowedColorObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::ShadowMapColor& shader,\n gs::ShadowMapColor& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _shader{shader},\n _texture_shader(texture_shader) {}\n\n ShadowedColorObject& ShadowedColorObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n ShadowedColorObject& ShadowedColorObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n ShadowedColorObject& ShadowedColorObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n return *this;\n }\n\n void ShadowedColorObject::draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera)\n {\n if (!_simu->gui_data()->cast_shadows(_shape))\n return;\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (isColor) {\n (_shader.get())\n .set_transformation_matrix(transformationMatrix * scalingMatrix)\n .set_projection_matrix(camera.projectionMatrix())\n .set_material(_materials[i])\n .draw(mesh);\n }\n else {\n (_texture_shader.get())\n .set_transformation_matrix(transformationMatrix * scalingMatrix)\n .set_projection_matrix(camera.projectionMatrix())\n .set_material(_materials[i])\n .draw(mesh);\n }\n }\n }\n\n // CubeMapShadowedObject\n CubeMapShadowedObject::CubeMapShadowedObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::CubeMap& shader,\n gs::CubeMap& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _shader{shader},\n _texture_shader(texture_shader) {}\n\n CubeMapShadowedObject& CubeMapShadowedObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n CubeMapShadowedObject& CubeMapShadowedObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n CubeMapShadowedObject& CubeMapShadowedObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n return *this;\n }\n\n void CubeMapShadowedObject::draw(const Magnum::Matrix4&, Magnum::SceneGraph::Camera3D&)\n {\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (isColor) {\n (_shader.get())\n .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n .set_material(_materials[i])\n .draw(mesh);\n }\n else {\n (_texture_shader.get())\n .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n .set_material(_materials[i])\n .draw(mesh);\n }\n }\n }\n\n // CubeMapShadowedColorObject\n CubeMapShadowedColorObject::CubeMapShadowedColorObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::CubeMapColor& shader,\n gs::CubeMapColor& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group)\n : Object3D{parent},\n Magnum::SceneGraph::Drawable3D{*this, group},\n _simu(simu),\n _shape(shape),\n _meshes{meshes},\n _shader{shader},\n _texture_shader(texture_shader) {}\n\n CubeMapShadowedColorObject& CubeMapShadowedColorObject::set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes)\n {\n _meshes = meshes;\n return *this;\n }\n\n CubeMapShadowedColorObject& CubeMapShadowedColorObject::set_materials(const std::vector<gs::Material>& materials)\n {\n _materials = materials;\n return *this;\n }\n\n CubeMapShadowedColorObject& CubeMapShadowedColorObject::set_scalings(const std::vector<Magnum::Vector3>& scalings)\n {\n _scalings = scalings;\n return *this;\n }\n\n void CubeMapShadowedColorObject::draw(const Magnum::Matrix4&, Magnum::SceneGraph::Camera3D&)\n {\n if (!_simu->gui_data()->cast_shadows(_shape))\n return;\n for (size_t i = 0; i < _meshes.size(); i++) {\n Magnum::GL::Mesh& mesh = _meshes[i];\n Magnum::Matrix4 scalingMatrix = Magnum::Matrix4::scaling(_scalings[i]);\n bool isColor = !_materials[i].has_diffuse_texture();\n if (isColor) {\n (_shader.get())\n .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n .set_material(_materials[i])\n .draw(mesh);\n }\n else {\n (_texture_shader.get())\n .set_transformation_matrix(absoluteTransformation() * scalingMatrix)\n .set_material(_materials[i])\n .draw(mesh);\n }\n }\n }\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gui > magnum > drawables.hpp
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#include <robot_dart/gui/helper.hpp>#include <robot_dart/gui/magnum/gs/cube_map.hpp>#include <robot_dart/gui/magnum/gs/cube_map_color.hpp>#include <robot_dart/gui/magnum/gs/phong_multi_light.hpp>#include <robot_dart/gui/magnum/gs/shadow_map.hpp>#include <robot_dart/gui/magnum/gs/shadow_map_color.hpp>#include <robot_dart/gui/magnum/types.hpp>#include <Magnum/GL/Framebuffer.h>#include <Magnum/SceneGraph/Drawable.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/drawables.hpp
File List > gui > magnum > drawables.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_DRAWABLES_HPP\n#define ROBOT_DART_GUI_MAGNUM_DRAWABLES_HPP\n\n#include <robot_dart/gui/helper.hpp>\n#include <robot_dart/gui/magnum/gs/cube_map.hpp>\n#include <robot_dart/gui/magnum/gs/cube_map_color.hpp>\n#include <robot_dart/gui/magnum/gs/phong_multi_light.hpp>\n#include <robot_dart/gui/magnum/gs/shadow_map.hpp>\n#include <robot_dart/gui/magnum/gs/shadow_map_color.hpp>\n#include <robot_dart/gui/magnum/types.hpp>\n\n#include <Magnum/GL/Framebuffer.h>\n\n#include <Magnum/SceneGraph/Drawable.h>\n\nnamespace dart {\n namespace dynamics {\n class ShapeNode;\n }\n} // namespace dart\n\nnamespace robot_dart {\n class RobotDARTSimu;\n\n namespace gui {\n namespace magnum {\n class DrawableObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit DrawableObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n const std::vector<gs::Material>& materials,\n gs::PhongMultiLight& color,\n gs::PhongMultiLight& texture,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n DrawableObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n DrawableObject& set_materials(const std::vector<gs::Material>& materials);\n DrawableObject& set_soft_bodies(const std::vector<bool>& softBody);\n DrawableObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n DrawableObject& set_transparent(bool transparent = true);\n\n DrawableObject& set_color_shader(std::reference_wrapper<gs::PhongMultiLight> shader);\n DrawableObject& set_texture_shader(std::reference_wrapper<gs::PhongMultiLight> shader);\n\n const std::vector<gs::Material>& materials() const { return _materials; }\n bool transparent() const { return _isTransparent; }\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::PhongMultiLight> _color_shader;\n std::reference_wrapper<gs::PhongMultiLight> _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n std::vector<bool> _has_negative_scaling;\n std::vector<bool> _is_soft_body;\n bool _isTransparent;\n };\n\n class ShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit ShadowedObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::ShadowMap& shader,\n gs::ShadowMap& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n ShadowedObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n ShadowedObject& set_materials(const std::vector<gs::Material>& materials);\n ShadowedObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::ShadowMap> _shader, _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n };\n\n class ShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit ShadowedColorObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::ShadowMapColor& shader,\n gs::ShadowMapColor& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n ShadowedColorObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n ShadowedColorObject& set_materials(const std::vector<gs::Material>& materials);\n ShadowedColorObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::ShadowMapColor> _shader, _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n };\n\n class CubeMapShadowedObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit CubeMapShadowedObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::CubeMap& shader,\n gs::CubeMap& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n CubeMapShadowedObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n CubeMapShadowedObject& set_materials(const std::vector<gs::Material>& materials);\n CubeMapShadowedObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::CubeMap> _shader, _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n };\n\n class CubeMapShadowedColorObject : public Object3D, public Magnum::SceneGraph::Drawable3D {\n public:\n explicit CubeMapShadowedColorObject(\n RobotDARTSimu* simu,\n dart::dynamics::ShapeNode* shape,\n const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes,\n gs::CubeMapColor& shader,\n gs::CubeMapColor& texture_shader,\n Object3D* parent,\n Magnum::SceneGraph::DrawableGroup3D* group);\n\n CubeMapShadowedColorObject& set_meshes(const std::vector<std::reference_wrapper<Magnum::GL::Mesh>>& meshes);\n CubeMapShadowedColorObject& set_materials(const std::vector<gs::Material>& materials);\n CubeMapShadowedColorObject& set_scalings(const std::vector<Magnum::Vector3>& scalings);\n\n RobotDARTSimu* simu() const { return _simu; }\n dart::dynamics::ShapeNode* shape() const { return _shape; }\n\n private:\n void draw(const Magnum::Matrix4& transformationMatrix, Magnum::SceneGraph::Camera3D& camera) override;\n\n RobotDARTSimu* _simu;\n dart::dynamics::ShapeNode* _shape;\n std::vector<std::reference_wrapper<Magnum::GL::Mesh>> _meshes;\n std::reference_wrapper<gs::CubeMapColor> _shader, _texture_shader;\n std::vector<gs::Material> _materials;\n std::vector<Magnum::Vector3> _scalings;\n };\n\n struct ShadowData {\n Magnum::GL::Framebuffer shadow_framebuffer{Magnum::NoCreate};\n Magnum::GL::Framebuffer shadow_color_framebuffer{Magnum::NoCreate};\n };\n\n struct ObjectStruct {\n DrawableObject* drawable;\n ShadowedObject* shadowed;\n ShadowedColorObject* shadowed_color;\n CubeMapShadowedObject* cubemapped;\n CubeMapShadowedColorObject* cubemapped_color;\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n#endif\nFileList > gui > magnum > glfw_application.cpp
Go to the source code of this file
#include \"glfw_application.hpp\"#include \"robot_dart/utils.hpp\"#include <Magnum/GL/DefaultFramebuffer.h>#include <Magnum/GL/Renderer.h>#include <Magnum/GL/Version.h>#include <Magnum/PixelFormat.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/glfw_application.cpp
File: api/glfw__application_8cpp_source.md
Line 69 in Markdown file: unexpected '}'
Magnum::GL::defaultFramebuffer.setViewport({{}, event.framebufferSize()});\nFileList > gui > magnum > glfw_application.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/base_application.hpp>#include <Magnum/Platform/GlfwApplication.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/glfw_application.hpp
File List > gui > magnum > glfw_application.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GLFW_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_GLFW_APPLICATION_HPP\n\n#include <robot_dart/gui/magnum/base_application.hpp>\n\n// Workaround for X11lib defines\n#undef Button1\n#undef Button2\n#undef Button3\n#undef Button4\n#undef Button5\n#include <Magnum/Platform/GlfwApplication.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n class GlfwApplication : public BaseApplication, public Magnum::Platform::Application {\n public:\n explicit GlfwApplication(int argc, char** argv, RobotDARTSimu* simu, const GraphicsConfiguration& configuration = GraphicsConfiguration());\n\n ~GlfwApplication();\n\n void render() override;\n\n protected:\n RobotDARTSimu* _simu;\n Magnum::Float _speed_move, _speed_strafe;\n bool _draw_main_camera, _draw_debug;\n Magnum::Color4 _bg_color;\n\n static constexpr Magnum::Float _speed = 0.05f;\n\n void viewportEvent(ViewportEvent& event) override;\n\n void drawEvent() override;\n\n virtual void keyReleaseEvent(KeyEvent& event) override;\n virtual void keyPressEvent(KeyEvent& event) override;\n\n virtual void mouseScrollEvent(MouseScrollEvent& event) override;\n virtual void mouseMoveEvent(MouseMoveEvent& event) override;\n\n void exitEvent(ExitEvent& event) override;\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > graphics.cpp
Go to the source code of this file
#include <robot_dart/gui/magnum/graphics.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/graphics.cpp
File List > gui > magnum > graphics.cpp
Go to the documentation of this file
#include <robot_dart/gui/magnum/graphics.hpp>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n void Graphics::set_simu(RobotDARTSimu* simu)\n {\n BaseGraphics<GlfwApplication>::set_simu(simu);\n // we synchronize by default if we have the graphics activated\n simu->scheduler().set_sync(true);\n // enable summary text when graphics activated\n simu->enable_text_panel(true);\n simu->enable_status_bar(true);\n }\n\n GraphicsConfiguration Graphics::default_configuration()\n {\n return GraphicsConfiguration();\n }\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gui > magnum > graphics.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/base_graphics.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/graphics.hpp
File List > gui > magnum > graphics.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_GRAPHICS_HPP\n\n#include <robot_dart/gui/magnum/base_graphics.hpp>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n class Graphics : public BaseGraphics<GlfwApplication> {\n public:\n Graphics(const GraphicsConfiguration& configuration = default_configuration()) : BaseGraphics<GlfwApplication>(configuration) {}\n ~Graphics() {}\n\n void set_simu(RobotDARTSimu* simu) override;\n\n static GraphicsConfiguration default_configuration();\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs
"},{"location":"api/dir_2f8612d80f6bb57c97efd4c82e0df286/#files","title":"Files","text":"Type Name file camera.cpp file camera.hpp file create_compatibility_shader.hpp file cube_map.cpp file cube_map.hpp file cube_map_color.cpp file cube_map_color.hpp file helper.cpp file helper.hpp file light.cpp file light.hpp file material.cpp file material.hpp file phong_multi_light.cpp file phong_multi_light.hpp file shadow_map.cpp file shadow_map.hpp file shadow_map_color.cpp file shadow_map_color.hppThe documentation for this class was generated from the following file robot_dart/gui/magnum/gs/
FileList > gs > camera.cpp
Go to the source code of this file
#include \"camera.hpp\"#include \"robot_dart/gui/magnum/base_application.hpp\"#include \"robot_dart/gui_data.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"#include \"robot_dart/utils.hpp\"#include <external/process.hpp>#include <algorithm>#include <Corrade/Containers/ArrayViewStl.h>#include <Corrade/Containers/StridedArrayView.h>#include <Corrade/Utility/Algorithms.h>#include <Magnum/GL/AbstractFramebuffer.h>#include <Magnum/GL/GL.h>#include <Magnum/GL/PixelFormat.h>#include <Magnum/GL/Renderer.h>#include <Magnum/ImageView.h>#include <Magnum/PixelFormat.h>#include <robot_dart/gui/magnum/utils_headers_eigen.hpp>#include <utheque/utheque.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.cpp
File: api/gs_2camera_8cpp_source.md
Line 204 in Markdown file: expected name or number
return {{projection[0][0], 0., 0.},\nFileList > gs > camera.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/gs/light.hpp>#include <robot_dart/gui/magnum/types.hpp>#include <robot_dart/robot_dart_simu.hpp>#include <Corrade/Containers/Optional.h>#include <Magnum/GL/Mesh.h>#include <Magnum/Image.h>#include <Magnum/Shaders/DistanceFieldVector.h>#include <Magnum/Shaders/VertexColor.h>#include <Magnum/Text/Renderer.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/camera.hpp
File List > gs > camera.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GS_CAMERA_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CAMERA_HPP\n\n#include <robot_dart/gui/magnum/gs/light.hpp>\n#include <robot_dart/gui/magnum/types.hpp>\n#include <robot_dart/robot_dart_simu.hpp>\n\n#include <Corrade/Containers/Optional.h>\n#include <Magnum/GL/Mesh.h>\n#include <Magnum/Image.h>\n#include <Magnum/Shaders/DistanceFieldVector.h>\n#include <Magnum/Shaders/VertexColor.h>\n#include <Magnum/Text/Renderer.h>\n\nnamespace TinyProcessLib {\n class Process;\n}\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n struct DebugDrawData;\n\n namespace gs {\n // This is partly code from the ThirdPersonCameraController of https://github.com/alexesDev/magnum-tips\n class Camera : public Object3D {\n public:\n explicit Camera(Object3D& object, Magnum::Int width, Magnum::Int height);\n ~Camera();\n\n Camera3D& camera() const;\n Object3D& root_object();\n Object3D& camera_object() const;\n\n Camera& set_viewport(const Magnum::Vector2i& size);\n\n Camera& move(const Magnum::Vector2i& shift);\n Camera& forward(Magnum::Float speed);\n Camera& strafe(Magnum::Float speed);\n\n Camera& set_speed(const Magnum::Vector2& speed);\n Camera& set_near_plane(Magnum::Float near_plane);\n Camera& set_far_plane(Magnum::Float far_plane);\n Camera& set_fov(Magnum::Float fov);\n Camera& set_camera_params(Magnum::Float near_plane, Magnum::Float far_plane, Magnum::Float fov, Magnum::Int width, Magnum::Int height);\n\n Magnum::Vector2 speed() const { return _speed; }\n Magnum::Float near_plane() const { return _near_plane; }\n Magnum::Float far_plane() const { return _far_plane; }\n Magnum::Float fov() const { return static_cast<Magnum::Float>(_fov); }\n Magnum::Int width() const { return _camera->viewport()[0]; }\n Magnum::Int height() const { return _camera->viewport()[1]; }\n Magnum::Matrix3 intrinsic_matrix() const;\n Magnum::Matrix4 extrinsic_matrix() const;\n\n Camera& look_at(const Magnum::Vector3& camera, const Magnum::Vector3& center, const Magnum::Vector3& up = Magnum::Vector3::zAxis());\n\n void transform_lights(std::vector<gs::Light>& lights) const;\n\n void record(bool recording, bool recording_depth = false)\n {\n _recording = recording;\n _recording_depth = recording_depth;\n }\n\n // FPS is mandatory here (compared to Graphics and CameraOSR)\n void record_video(const std::string& video_fname, int fps);\n bool recording() { return _recording; }\n bool recording_depth() { return _recording_depth; }\n\n Corrade::Containers::Optional<Magnum::Image2D>& image() { return _image; }\n Corrade::Containers::Optional<Magnum::Image2D>& depth_image() { return _depth_image; }\n\n void draw(Magnum::SceneGraph::DrawableGroup3D& drawables, Magnum::GL::AbstractFramebuffer& framebuffer, Magnum::PixelFormat format, RobotDARTSimu* simu, const DebugDrawData& debug_data, bool draw_debug = true);\n\n private:\n Object3D* _yaw_object;\n Object3D* _pitch_object;\n Object3D* _camera_object;\n\n Camera3D* _camera;\n Magnum::Vector2 _speed{-0.01f, 0.01f};\n\n Magnum::Vector3 _up, _front, _right;\n Magnum::Float _aspect_ratio, _near_plane, _far_plane;\n Magnum::Rad _fov;\n Magnum::Int _width, _height;\n\n bool _recording = false, _recording_depth = false;\n bool _recording_video = false;\n Corrade::Containers::Optional<Magnum::Image2D> _image, _depth_image;\n\n TinyProcessLib::Process* _ffmpeg_process = nullptr;\n\n void _clean_up_subprocess();\n };\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > create_compatibility_shader.hpp
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#include <Corrade/Utility/Resource.h>#include <Magnum/GL/Context.h>#include <Magnum/GL/Extensions.h>#include <Magnum/GL/Shader.h>#include <string>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/create_compatibility_shader.hpp
File List > gs > create_compatibility_shader.hpp
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#ifndef Magnum_Shaders_Implementation_CreateCompatibilityShader_h\n#define Magnum_Shaders_Implementation_CreateCompatibilityShader_h\n/*\n This file is part of Magnum.\n Copyright \u00a9 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018\n Vladim\u00edr Vondru\u0161 <mosra@centrum.cz>\n Permission is hereby granted, free of charge, to any person obtaining a\n copy of this software and associated documentation files (the \"Software\"),\n to deal in the Software without restriction, including without limitation\n the rights to use, copy, modify, merge, publish, distribute, sublicense,\n and/or sell copies of the Software, and to permit persons to whom the\n Software is furnished to do so, subject to the following conditions:\n The above copyright notice and this permission notice shall be included\n in all copies or substantial portions of the Software.\n THE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR\n IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,\n FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL\n THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER\n LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING\n FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER\n DEALINGS IN THE SOFTWARE.\n*/\n\n#include <Corrade/Utility/Resource.h>\n\n#include <Magnum/GL/Context.h>\n#include <Magnum/GL/Extensions.h>\n#include <Magnum/GL/Shader.h>\n\n#include <string>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n namespace {\n enum : Magnum::Int { AmbientTextureLayer = 0,\n DiffuseTextureLayer = 1,\n SpecularTextureLayer = 2 };\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\nnamespace Magnum {\n namespace Shaders {\n namespace Implementation {\n\n inline GL::Shader createCompatibilityShader(const Utility::Resource& rs, GL::Version version, GL::Shader::Type type)\n {\n GL::Shader shader(version, type);\n\n#ifndef MAGNUM_TARGET_GLES\n if (GL::Context::current().isExtensionDisabled<GL::Extensions::ARB::explicit_attrib_location>(version))\n shader.addSource(\"#define DISABLE_GL_ARB_explicit_attrib_location\\n\");\n if (GL::Context::current().isExtensionDisabled<GL::Extensions::ARB::shading_language_420pack>(version))\n shader.addSource(\"#define DISABLE_GL_ARB_shading_language_420pack\\n\");\n if (GL::Context::current().isExtensionDisabled<GL::Extensions::ARB::explicit_uniform_location>(version))\n shader.addSource(\"#define DISABLE_GL_ARB_explicit_uniform_location\\n\");\n#endif\n\n#ifndef MAGNUM_TARGET_GLES2\n if (type == GL::Shader::Type::Vertex && GL::Context::current().isExtensionDisabled<GL::Extensions::MAGNUM::shader_vertex_id>(version))\n shader.addSource(\"#define DISABLE_GL_MAGNUM_shader_vertex_id\\n\");\n#endif\n\n/* My Android emulator (running on NVidia) doesn't define GL_ES\n preprocessor macro, thus *all* the stock shaders fail to compile */\n#ifdef CORRADE_TARGET_ANDROID\n shader.addSource(\"#ifndef GL_ES\\n#define GL_ES 1\\n#endif\\n\");\n#endif\n\n shader.addSource(rs.get(\"compatibility.glsl\"));\n return shader;\n }\n\n } // namespace Implementation\n } // namespace Shaders\n} // namespace Magnum\n\n#endif\nFileList > gs > cube_map.cpp
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#include \"cube_map.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map.cpp
File List > gs > cube_map.cpp
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#include \"cube_map.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n CubeMap::CubeMap(CubeMap::Flags flags) : _flags(flags)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader geom = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Geometry);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"CubeMap.vert\"));\n geom.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"CubeMap.geom\"));\n frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"CubeMap.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, geom, frag}));\n\n attachShaders({vert, geom, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _shadow_matrices_uniform = uniformLocation(\"shadowMatrices[0]\");\n _light_position_uniform = uniformLocation(\"lightPosition\");\n _far_plane_uniform = uniformLocation(\"farPlane\");\n _light_index_uniform = uniformLocation(\"lightIndex\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n }\n }\n\n CubeMap::CubeMap(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n CubeMap::Flags CubeMap::flags() const { return _flags; }\n\n CubeMap& CubeMap::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n CubeMap& CubeMap::set_shadow_matrices(Magnum::Matrix4 matrices[6])\n {\n for (size_t i = 0; i < 6; i++)\n setUniform(_shadow_matrices_uniform + i, matrices[i]);\n return *this;\n }\n\n CubeMap& CubeMap::set_light_position(const Magnum::Vector3& position)\n {\n setUniform(_light_position_uniform, position);\n return *this;\n }\n\n CubeMap& CubeMap::set_far_plane(Magnum::Float far_plane)\n {\n setUniform(_far_plane_uniform, far_plane);\n return *this;\n }\n\n CubeMap& CubeMap::set_light_index(Magnum::Int index)\n {\n setUniform(_light_index_uniform, index);\n return *this;\n }\n\n CubeMap& CubeMap::set_material(Material& material)\n {\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > cube_map.hpp
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#include <robot_dart/gui/magnum/gs/material.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map.hpp
File List > gs > cube_map.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class CubeMap : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n DiffuseTexture = 1 << 0, \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit CubeMap(Flags flags = {});\n explicit CubeMap(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n CubeMap& set_transformation_matrix(const Magnum::Matrix4& matrix);\n CubeMap& set_shadow_matrices(Magnum::Matrix4 matrices[6]);\n CubeMap& set_light_position(const Magnum::Vector3& position);\n CubeMap& set_far_plane(Magnum::Float far_plane);\n CubeMap& set_light_index(Magnum::Int index);\n CubeMap& set_material(Material& material);\n\n private:\n Flags _flags;\n Magnum::Int _transformation_matrix_uniform{0},\n _shadow_matrices_uniform{5},\n _light_position_uniform{1},\n _far_plane_uniform{2},\n _light_index_uniform{3},\n _diffuse_color_uniform{4};\n };\n\n CORRADE_ENUMSET_OPERATORS(CubeMap::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > cube_map_color.cpp
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#include \"cube_map_color.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/CubeMapTextureArray.h>#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map_color.cpp
File List > gs > cube_map_color.cpp
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#include \"cube_map_color.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/CubeMapTextureArray.h>\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n CubeMapColor::CubeMapColor(CubeMapColor::Flags flags) : _flags(flags)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader geom = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Geometry);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"CubeMap.vert\"));\n geom.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"CubeMap.geom\"));\n frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"CubeMapColor.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, geom, frag}));\n\n attachShaders({vert, geom, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _shadow_matrices_uniform = uniformLocation(\"shadowMatrices[0]\");\n _light_position_uniform = uniformLocation(\"lightPosition\");\n _far_plane_uniform = uniformLocation(\"farPlane\");\n _light_index_uniform = uniformLocation(\"lightIndex\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n }\n\n if (!Magnum::GL::Context::current()\n .isExtensionSupported<Magnum::GL::Extensions::ARB::shading_language_420pack>(version)) {\n setUniform(uniformLocation(\"cubeMapTextures\"), _cube_map_textures_location);\n if (flags) {\n if (flags & Flag::DiffuseTexture)\n setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n }\n }\n }\n\n CubeMapColor::CubeMapColor(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n CubeMapColor::Flags CubeMapColor::flags() const { return _flags; }\n\n CubeMapColor& CubeMapColor::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_shadow_matrices(Magnum::Matrix4 matrices[6])\n {\n for (size_t i = 0; i < 6; i++)\n setUniform(_shadow_matrices_uniform + i, matrices[i]);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_light_position(const Magnum::Vector3& position)\n {\n setUniform(_light_position_uniform, position);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_far_plane(Magnum::Float far_plane)\n {\n setUniform(_far_plane_uniform, far_plane);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_light_index(Magnum::Int index)\n {\n setUniform(_light_index_uniform, index);\n return *this;\n }\n\n CubeMapColor& CubeMapColor::set_material(Material& material)\n {\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n return *this;\n }\n\n CubeMapColor& CubeMapColor::bind_cube_map_texture(Magnum::GL::CubeMapTextureArray& texture)\n {\n texture.bind(_cube_map_textures_location);\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > cube_map_color.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/gs/material.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/cube_map_color.hpp
File List > gs > cube_map_color.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_COLOR_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_CUBE_MAP_COLOR_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class CubeMapColor : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n DiffuseTexture = 1 << 0, \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit CubeMapColor(Flags flags = {});\n explicit CubeMapColor(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n CubeMapColor& set_transformation_matrix(const Magnum::Matrix4& matrix);\n CubeMapColor& set_shadow_matrices(Magnum::Matrix4 matrices[6]);\n CubeMapColor& set_light_position(const Magnum::Vector3& position);\n CubeMapColor& set_far_plane(Magnum::Float far_plane);\n CubeMapColor& set_light_index(Magnum::Int index);\n CubeMapColor& set_material(Material& material);\n\n CubeMapColor& bind_cube_map_texture(Magnum::GL::CubeMapTextureArray& texture);\n\n private:\n Flags _flags;\n Magnum::Int _transformation_matrix_uniform{0},\n _shadow_matrices_uniform{5},\n _light_position_uniform{1},\n _far_plane_uniform{2},\n _light_index_uniform{3},\n _diffuse_color_uniform{4},\n _cube_map_textures_location{2};\n };\n\n CORRADE_ENUMSET_OPERATORS(CubeMapColor::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > helper.cpp
Go to the source code of this file
#include \"helper.hpp\"#include <Corrade/Containers/ArrayViewStl.h>#include <Corrade/Containers/StridedArrayView.h>#include <Corrade/Utility/Algorithms.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/PackingBatch.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/helper.cpp
File List > gs > helper.cpp
Go to the documentation of this file
#include \"helper.hpp\"\n\n#include <Corrade/Containers/ArrayViewStl.h>\n#include <Corrade/Containers/StridedArrayView.h>\n#include <Corrade/Utility/Algorithms.h>\n\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/PackingBatch.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n Image rgb_from_image(Magnum::Image2D* image)\n {\n Image img;\n\n img.width = image->size().x();\n img.height = image->size().y();\n img.channels = 3;\n img.data.resize(image->size().product() * sizeof(Magnum::Color3ub));\n Corrade::Containers::StridedArrayView2D<const Magnum::Color3ub> src = image->pixels<Magnum::Color3ub>().flipped<0>();\n Corrade::Containers::StridedArrayView2D<Magnum::Color3ub> dst{Corrade::Containers::arrayCast<Magnum::Color3ub>(Corrade::Containers::arrayView(img.data)), {std::size_t(image->size().y()), std::size_t(image->size().x())}};\n Corrade::Utility::copy(src, dst);\n\n return img;\n }\n\n GrayscaleImage depth_from_image(Magnum::Image2D* image, bool linearize, Magnum::Float near_plane, Magnum::Float far_plane)\n {\n GrayscaleImage img;\n\n img.width = image->size().x();\n img.height = image->size().y();\n img.data.resize(image->size().product() * sizeof(uint8_t));\n\n std::vector<Magnum::Float> data = std::vector<Magnum::Float>(image->size().product());\n Corrade::Containers::StridedArrayView2D<const Magnum::Float> src = image->pixels<Magnum::Float>().flipped<0>();\n Corrade::Containers::StridedArrayView2D<Magnum::Float> dst{Corrade::Containers::arrayCast<Magnum::Float>(Corrade::Containers::arrayView(data)), {std::size_t(image->size().y()), std::size_t(image->size().x())}};\n Corrade::Utility::copy(src, dst);\n\n if (linearize) {\n for (auto& depth : data)\n depth = (2.f * near_plane) / (far_plane + near_plane - depth * (far_plane - near_plane));\n }\n\n Corrade::Containers::StridedArrayView2D<uint8_t> new_dst{Corrade::Containers::arrayCast<uint8_t>(Corrade::Containers::arrayView(img.data)), {std::size_t(image->size().y()), std::size_t(image->size().x())}};\n\n Magnum::Math::packInto(dst, new_dst);\n\n return img;\n }\n\n DepthImage depth_array_from_image(Magnum::Image2D* image, Magnum::Float near_plane, Magnum::Float far_plane)\n {\n DepthImage img;\n img.width = image->size().x();\n img.height = image->size().y();\n\n std::vector<Magnum::Float> data = std::vector<Magnum::Float>(image->size().product());\n Corrade::Containers::StridedArrayView2D<const Magnum::Float> src = image->pixels<Magnum::Float>().flipped<0>();\n Corrade::Containers::StridedArrayView2D<Magnum::Float> dst{Corrade::Containers::arrayCast<Magnum::Float>(Corrade::Containers::arrayView(data)), {std::size_t(image->size().y()), std::size_t(image->size().x())}};\n Corrade::Utility::copy(src, dst);\n\n img.data = std::vector<double>(data.begin(), data.end());\n\n double zNear = static_cast<double>(near_plane);\n double zFar = static_cast<double>(far_plane);\n\n // zNear * zFar / (zFar + d * (zNear - zFar));\n for (auto& depth : img.data)\n // depth = (2. * zNear) / (zFar + zNear - depth * (zFar - zNear));\n depth = (zNear * zFar) / (zFar - depth * (zFar - zNear));\n\n return img;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > helper.hpp
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#include <robot_dart/gui/helper.hpp>#include <vector>#include <Magnum/Image.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/helper.hpp
File List > gs > helper.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_HELPER_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_HELPER_HPP\n\n#include <robot_dart/gui/helper.hpp>\n\n#include <vector>\n\n#include <Magnum/Image.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n Image rgb_from_image(Magnum::Image2D* image);\n GrayscaleImage depth_from_image(Magnum::Image2D* image, bool linearize = false, Magnum::Float near_plane = 0.f, Magnum::Float far_plane = 100.f);\n DepthImage depth_array_from_image(Magnum::Image2D* image, Magnum::Float near_plane = 0.f, Magnum::Float far_plane = 100.f);\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > light.cpp
Go to the source code of this file
#include \"light.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/light.cpp
File List > gs > light.cpp
Go to the documentation of this file
#include \"light.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n Light::Light() : _position(Magnum::Vector4{0.f, 0.f, 0.f, 1.f}),\n _transformed_position(_position),\n _material(Material()),\n _spot_direction(Magnum::Vector3{1.f, 0.f, 0.f}),\n _spot_exponent(1.f),\n _spot_cut_off(Magnum::Math::Constants<Magnum::Float>::pi()),\n _attenuation(Magnum::Vector4{0.f, 0.f, 1.f, 1.f}),\n _cast_shadows(true) {}\n\n Light::Light(const Magnum::Vector4& position, const Material& material, const Magnum::Vector3& spot_direction,\n Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4& attenuation, bool cast_shadows) : _position(position),\n _transformed_position(_position),\n _material(material),\n _spot_direction(spot_direction),\n _spot_exponent(spot_exponent),\n _spot_cut_off(spot_cut_off),\n _attenuation(attenuation),\n _cast_shadows(cast_shadows) {}\n\n // Magnum::Vector4& Light::position();\n Magnum::Vector4 Light::position() const { return _position; }\n\n Magnum::Vector4& Light::transformed_position() { return _transformed_position; }\n Magnum::Vector4 Light::transformed_position() const { return _transformed_position; }\n\n Material& Light::material() { return _material; }\n Material Light::material() const { return _material; }\n\n // Magnum::Vector3& Light::spot_direction() { return _spot_direction; }\n Magnum::Vector3 Light::spot_direction() const { return _spot_direction; }\n\n Magnum::Vector3& Light::transformed_spot_direction() { return _transformed_spot_direction; }\n Magnum::Vector3 Light::transformed_spot_direction() const { return _transformed_spot_direction; }\n\n Magnum::Float& Light::spot_exponent() { return _spot_exponent; }\n Magnum::Float Light::spot_exponent() const { return _spot_exponent; }\n\n Magnum::Float& Light::spot_cut_off() { return _spot_cut_off; }\n Magnum::Float Light::spot_cut_off() const { return _spot_cut_off; }\n\n Magnum::Vector4& Light::attenuation() { return _attenuation; }\n Magnum::Vector4 Light::attenuation() const { return _attenuation; }\n\n Magnum::Matrix4 Light::shadow_matrix() const { return _shadow_transform; }\n\n bool Light::casts_shadows() const { return _cast_shadows; }\n\n Light& Light::set_position(const Magnum::Vector4& position)\n {\n _position = position;\n _transformed_position = position;\n return *this;\n }\n\n Light& Light::set_transformed_position(const Magnum::Vector4& transformed_position)\n {\n _transformed_position = transformed_position;\n return *this;\n }\n\n Light& Light::set_material(const Material& material)\n {\n _material = material;\n return *this;\n }\n\n Light& Light::set_spot_direction(const Magnum::Vector3& spot_direction)\n {\n _spot_direction = spot_direction;\n _transformed_spot_direction = _spot_direction;\n return *this;\n }\n\n Light& Light::set_transformed_spot_direction(const Magnum::Vector3& transformed_spot_direction)\n {\n _transformed_spot_direction = transformed_spot_direction;\n return *this;\n }\n\n Light& Light::set_spot_exponent(Magnum::Float spot_exponent)\n {\n _spot_exponent = spot_exponent;\n return *this;\n }\n\n Light& Light::set_spot_cut_off(Magnum::Float spot_cut_off)\n {\n _spot_cut_off = spot_cut_off;\n return *this;\n }\n\n Light& Light::set_attenuation(const Magnum::Vector4& attenuation)\n {\n _attenuation = attenuation;\n return *this;\n }\n\n Light& Light::set_shadow_matrix(const Magnum::Matrix4& shadowTransform)\n {\n _shadow_transform = shadowTransform;\n return *this;\n }\n\n Light& Light::set_casts_shadows(bool cast_shadows)\n {\n _cast_shadows = cast_shadows;\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > light.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/gs/material.hpp>#include <Magnum/Math/Matrix4.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/light.hpp
File List > gs > light.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_LIGHT_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_LIGHT_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Magnum/Math/Matrix4.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class Light {\n public:\n Light();\n\n Light(const Magnum::Vector4& position, const Material& material, const Magnum::Vector3& spot_direction,\n Magnum::Float spot_exponent, Magnum::Float spot_cut_off, const Magnum::Vector4& attenuation, bool cast_shadows = true);\n\n // Magnum::Vector4& position();\n Magnum::Vector4 position() const;\n Magnum::Vector4& transformed_position();\n Magnum::Vector4 transformed_position() const;\n\n Material& material();\n Material material() const;\n\n // Magnum::Vector3& spot_direction();\n Magnum::Vector3 spot_direction() const;\n\n Magnum::Vector3& transformed_spot_direction();\n Magnum::Vector3 transformed_spot_direction() const;\n\n Magnum::Float& spot_exponent();\n Magnum::Float spot_exponent() const;\n\n Magnum::Float& spot_cut_off();\n Magnum::Float spot_cut_off() const;\n\n Magnum::Vector4& attenuation();\n Magnum::Vector4 attenuation() const;\n\n Magnum::Matrix4 shadow_matrix() const;\n bool casts_shadows() const;\n\n Light& set_position(const Magnum::Vector4& position);\n Light& set_transformed_position(const Magnum::Vector4& transformed_position);\n\n Light& set_material(const Material& material);\n\n Light& set_spot_direction(const Magnum::Vector3& spot_direction);\n Light& set_transformed_spot_direction(const Magnum::Vector3& transformed_spot_direction);\n Light& set_spot_exponent(Magnum::Float spot_exponent);\n Light& set_spot_cut_off(Magnum::Float spot_cut_off);\n\n Light& set_attenuation(const Magnum::Vector4& attenuation);\n\n Light& set_shadow_matrix(const Magnum::Matrix4& shadowTransform);\n Light& set_casts_shadows(bool cast_shadows);\n\n protected:\n // Position for point-lights and spot-lights\n // Direction for directional lights (if position.w == 0)\n Magnum::Vector4 _position;\n // TO-DO: Handle dirtiness of transformed position\n Magnum::Vector4 _transformed_position;\n Material _material;\n Magnum::Vector3 _spot_direction;\n // TO-DO: Handle dirtiness of transformed spot direction\n Magnum::Vector3 _transformed_spot_direction;\n Magnum::Float _spot_exponent, _spot_cut_off;\n\n // Attenuation is: intensity/(constant + d * (linear + quadratic * d)\n // where d is the distance from the light position to the vertex position.\n //\n // (constant,linear,quadratic,intensity)\n Magnum::Vector4 _attenuation;\n\n // Shadow-Matrix\n Magnum::Matrix4 _shadow_transform{};\n\n // Whether it casts shadows\n bool _cast_shadows = true;\n };\n\n // Helpers for creating lights\n inline Light create_point_light(const Magnum::Vector3& position, const Material& material,\n Magnum::Float intensity, const Magnum::Vector3& attenuationTerms)\n {\n Light light;\n light.set_material(material);\n light.set_position(Magnum::Vector4{position, 1.f})\n .set_attenuation(Magnum::Vector4{attenuationTerms, intensity});\n\n return light;\n }\n\n inline Light create_spot_light(const Magnum::Vector3& position, const Material& material,\n const Magnum::Vector3& spot_direction, Magnum::Float spot_exponent, Magnum::Float spot_cut_off,\n Magnum::Float intensity, const Magnum::Vector3& attenuationTerms)\n {\n return Light(Magnum::Vector4{position, 1.f}, material, spot_direction, spot_exponent, spot_cut_off,\n Magnum::Vector4{attenuationTerms, intensity});\n }\n\n inline Light create_directional_light(\n const Magnum::Vector3& direction, const Material& material)\n {\n Light light;\n light.set_material(material);\n light.set_position(Magnum::Vector4{direction, 0.f});\n\n return light;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > material.cpp
Go to the source code of this file
#include \"material.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/material.cpp
File List > gs > material.cpp
Go to the documentation of this file
#include \"material.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n Material::Material() : _ambient(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _diffuse(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _specular(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _shininess(2000.f) {}\n\n Material::Material(const Magnum::Color4& ambient, const Magnum::Color4& diffuse,\n const Magnum::Color4& specular, Magnum::Float shininess) : _ambient(ambient),\n _diffuse(diffuse),\n _specular(specular),\n _shininess(shininess) {}\n\n Material::Material(Magnum::GL::Texture2D* ambient_texture,\n Magnum::GL::Texture2D* diffuse_texture,\n Magnum::GL::Texture2D* specular_texture, Magnum::Float shininess) : _ambient(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _diffuse(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _specular(Magnum::Color4{0.f, 0.f, 0.f, 1.f}),\n _shininess(shininess),\n _ambient_texture(ambient_texture),\n _diffuse_texture(diffuse_texture),\n _specular_texture(specular_texture) {}\n\n Magnum::Color4& Material::ambient_color() { return _ambient; }\n Magnum::Color4 Material::ambient_color() const { return _ambient; }\n\n Magnum::Color4& Material::diffuse_color() { return _diffuse; }\n Magnum::Color4 Material::diffuse_color() const { return _diffuse; }\n\n Magnum::Color4& Material::specular_color() { return _specular; }\n Magnum::Color4 Material::specular_color() const { return _specular; }\n\n Magnum::Float& Material::shininess() { return _shininess; }\n Magnum::Float Material::shininess() const { return _shininess; }\n\n Magnum::GL::Texture2D* Material::ambient_texture() { return _ambient_texture; }\n Magnum::GL::Texture2D* Material::diffuse_texture() { return _diffuse_texture; }\n Magnum::GL::Texture2D* Material::specular_texture() { return _specular_texture; }\n\n bool Material::has_ambient_texture() const { return _ambient_texture != NULL; }\n bool Material::has_diffuse_texture() const { return _diffuse_texture != NULL; }\n bool Material::has_specular_texture() const { return _specular_texture != NULL; }\n\n Material& Material::set_ambient_color(const Magnum::Color4& ambient)\n {\n _ambient = ambient;\n return *this;\n }\n\n Material& Material::set_diffuse_color(const Magnum::Color4& diffuse)\n {\n _diffuse = diffuse;\n return *this;\n }\n\n Material& Material::set_specular_color(const Magnum::Color4& specular)\n {\n _specular = specular;\n return *this;\n }\n\n Material& Material::set_shininess(Magnum::Float shininess)\n {\n _shininess = shininess;\n return *this;\n }\n\n Material& Material::set_ambient_texture(Magnum::GL::Texture2D* ambient_texture)\n {\n _ambient_texture = ambient_texture;\n return *this;\n }\n\n Material& Material::set_diffuse_texture(Magnum::GL::Texture2D* diffuse_texture)\n {\n _diffuse_texture = diffuse_texture;\n return *this;\n }\n\n Material& Material::set_specular_texture(Magnum::GL::Texture2D* specular_texture)\n {\n _specular_texture = specular_texture;\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > material.hpp
Go to the source code of this file
#include <Corrade/Containers/Optional.h>#include <Magnum/GL/GL.h>#include <Magnum/Magnum.h>#include <Magnum/Math/Color.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/material.hpp
File List > gs > material.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_MATERIAL_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_MATERIAL_HPP\n\n#include <Corrade/Containers/Optional.h>\n\n#include <Magnum/GL/GL.h>\n#include <Magnum/Magnum.h>\n#include <Magnum/Math/Color.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class Material {\n public:\n Material();\n\n Material(const Magnum::Color4& ambient, const Magnum::Color4& diffuse,\n const Magnum::Color4& specular, Magnum::Float shininess);\n\n Material(Magnum::GL::Texture2D* ambient_texture,\n Magnum::GL::Texture2D* diffuse_texture,\n Magnum::GL::Texture2D* specular_texture, Magnum::Float shininess);\n\n Magnum::Color4& ambient_color();\n Magnum::Color4 ambient_color() const;\n\n Magnum::Color4& diffuse_color();\n Magnum::Color4 diffuse_color() const;\n\n Magnum::Color4& specular_color();\n Magnum::Color4 specular_color() const;\n\n Magnum::Float& shininess();\n Magnum::Float shininess() const;\n\n Magnum::GL::Texture2D* ambient_texture();\n Magnum::GL::Texture2D* diffuse_texture();\n Magnum::GL::Texture2D* specular_texture();\n\n bool has_ambient_texture() const;\n bool has_diffuse_texture() const;\n bool has_specular_texture() const;\n\n Material& set_ambient_color(const Magnum::Color4& ambient);\n Material& set_diffuse_color(const Magnum::Color4& diffuse);\n Material& set_specular_color(const Magnum::Color4& specular);\n Material& set_shininess(Magnum::Float shininess);\n\n Material& set_ambient_texture(Magnum::GL::Texture2D* ambient_texture);\n Material& set_diffuse_texture(Magnum::GL::Texture2D* diffuse_texture);\n Material& set_specular_texture(Magnum::GL::Texture2D* specular_texture);\n\n protected:\n Magnum::Color4 _ambient, _diffuse, _specular;\n Magnum::Float _shininess;\n Magnum::GL::Texture2D* _ambient_texture = NULL;\n Magnum::GL::Texture2D* _diffuse_texture = NULL;\n Magnum::GL::Texture2D* _specular_texture = NULL;\n };\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > phong_multi_light.cpp
Go to the source code of this file
#include \"phong_multi_light.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/CubeMapTextureArray.h>#include <Magnum/GL/Texture.h>#include <Magnum/GL/TextureArray.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/phong_multi_light.cpp
File List > gs > phong_multi_light.cpp
Go to the documentation of this file
#include \"phong_multi_light.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/CubeMapTextureArray.h>\n#include <Magnum/GL/Texture.h>\n#include <Magnum/GL/TextureArray.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n PhongMultiLight::PhongMultiLight(PhongMultiLight::Flags flags, Magnum::Int max_lights) : _flags(flags), _max_lights(max_lights)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define LIGHT_COUNT \" + std::to_string(_max_lights) + \"\\n\";\n defines += \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define NORMAL_ATTRIBUTE_LOCATION \" + std::to_string(Normal::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"PhongMultiLight.vert\"));\n frag.addSource(flags & Flag::AmbientTexture ? \"#define AMBIENT_TEXTURE\\n\" : \"\")\n .addSource(flags & Flag::DiffuseTexture ? \"#define DIFFUSE_TEXTURE\\n\" : \"\")\n .addSource(flags & Flag::SpecularTexture ? \"#define SPECULAR_TEXTURE\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"PhongMultiLight.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n attachShaders({vert, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n bindAttributeLocation(Normal::Location, \"normal\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n /* Get light matrices uniform */\n _lights_matrices_uniform = uniformLocation(\"lightMatrices[0]\");\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n _camera_matrix_uniform = uniformLocation(\"cameraMatrix\");\n _normal_matrix_uniform = uniformLocation(\"normalMatrix\");\n _lights_uniform = uniformLocation(\"lights[0].position\");\n _lights_matrices_uniform = uniformLocation(\"lightMatrices[0]\");\n _ambient_color_uniform = uniformLocation(\"ambientColor\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n _specular_color_uniform = uniformLocation(\"specularColor\");\n _shininess_uniform = uniformLocation(\"shininess\");\n _far_plane_uniform = uniformLocation(\"farPlane\");\n _specular_strength_uniform = uniformLocation(\"specularStrength\");\n _is_shadowed_uniform = uniformLocation(\"isShadowed\");\n _transparent_shadows_uniform = uniformLocation(\"drawTransparentShadows\");\n }\n\n if (!Magnum::GL::Context::current()\n .isExtensionSupported<Magnum::GL::Extensions::ARB::shading_language_420pack>(version)) {\n setUniform(uniformLocation(\"shadowTextures\"), _shadow_textures_location);\n setUniform(uniformLocation(\"cubeMapTextures\"), _cube_map_textures_location);\n setUniform(uniformLocation(\"shadowColorTextures\"), _shadow_color_textures_location);\n setUniform(uniformLocation(\"cubeMapColorTextures\"), _cube_map_color_textures_location);\n if (flags) {\n if (flags & Flag::AmbientTexture)\n setUniform(uniformLocation(\"ambientTexture\"), AmbientTextureLayer);\n if (flags & Flag::DiffuseTexture)\n setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n if (flags & Flag::SpecularTexture)\n setUniform(uniformLocation(\"specularTexture\"), SpecularTextureLayer);\n }\n }\n\n /* Set defaults (normally they are set in shader code itself, but just in case) */\n Material material;\n\n /* Default to fully opaque white so we can see the textures */\n if (flags & Flag::AmbientTexture)\n material.set_ambient_color(Magnum::Color4{1.0f});\n else\n material.set_ambient_color(Magnum::Color4{0.0f, 1.0f});\n\n if (flags & Flag::DiffuseTexture)\n material.set_diffuse_color(Magnum::Color4{1.0f});\n\n material.set_specular_color(Magnum::Color4{1.0f});\n material.set_shininess(80.0f);\n\n set_material(material);\n\n /* Lights defaults need to be set by code */\n /* All lights are disabled i.e., color equal to black */\n Light light;\n for (Magnum::Int i = 0; i < _max_lights; i++)\n set_light(i, light);\n }\n\n PhongMultiLight::PhongMultiLight(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n PhongMultiLight::Flags PhongMultiLight::flags() const { return _flags; }\n\n PhongMultiLight& PhongMultiLight::set_material(Material& material)\n {\n // TO-DO: Check if we should do this or let the user define the proper\n // material\n if (material.has_ambient_texture() && (_flags & Flag::AmbientTexture)) {\n (*material.ambient_texture()).bind(AmbientTextureLayer);\n setUniform(_ambient_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_ambient_color_uniform, material.ambient_color());\n\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n if (material.has_specular_texture() && (_flags & Flag::SpecularTexture)) {\n (*material.specular_texture()).bind(SpecularTextureLayer);\n setUniform(_specular_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_specular_color_uniform, material.specular_color());\n\n setUniform(_shininess_uniform, material.shininess());\n\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_light(Magnum::Int i, const Light& light)\n {\n CORRADE_INTERNAL_ASSERT(i >= 0 && i < _max_lights);\n Magnum::Vector4 attenuation = light.attenuation();\n\n // light position\n setUniform(_lights_uniform + i * _light_loc_size, light.transformed_position());\n // light material\n setUniform(_lights_uniform + i * _light_loc_size + 1, light.material().ambient_color());\n setUniform(_lights_uniform + i * _light_loc_size + 2, light.material().diffuse_color());\n setUniform(_lights_uniform + i * _light_loc_size + 3, light.material().specular_color());\n // spotlight properties\n setUniform(_lights_uniform + i * _light_loc_size + 4, light.transformed_spot_direction());\n setUniform(_lights_uniform + i * _light_loc_size + 5, light.spot_exponent());\n setUniform(_lights_uniform + i * _light_loc_size + 6, light.spot_cut_off());\n // intesity\n setUniform(_lights_uniform + i * _light_loc_size + 7, attenuation[3]);\n // constant attenuation term\n setUniform(_lights_uniform + i * _light_loc_size + 8, attenuation[0]);\n // linear attenuation term\n setUniform(_lights_uniform + i * _light_loc_size + 9, attenuation[1]);\n // quadratic attenuation term\n setUniform(_lights_uniform + i * _light_loc_size + 10, attenuation[2]);\n // world position\n setUniform(_lights_uniform + i * _light_loc_size + 11, light.position());\n // casts shadows?\n setUniform(_lights_uniform + i * _light_loc_size + 12, light.casts_shadows());\n\n setUniform(_lights_matrices_uniform + i, light.shadow_matrix());\n\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_camera_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_camera_matrix_uniform, matrix);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_normal_matrix(const Magnum::Matrix3x3& matrix)\n {\n setUniform(_normal_matrix_uniform, matrix);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_projection_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_projection_matrix_uniform, matrix);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_far_plane(Magnum::Float far_plane)\n {\n setUniform(_far_plane_uniform, far_plane);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_is_shadowed(bool shadows)\n {\n setUniform(_is_shadowed_uniform, shadows);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_transparent_shadows(bool shadows)\n {\n setUniform(_transparent_shadows_uniform, shadows);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::set_specular_strength(Magnum::Float specular_strength)\n {\n setUniform(_specular_strength_uniform, std::max(0.f, specular_strength));\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::bind_shadow_texture(Magnum::GL::Texture2DArray& texture)\n {\n texture.bind(_shadow_textures_location);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::bind_shadow_color_texture(Magnum::GL::Texture2DArray& texture)\n {\n texture.bind(_shadow_color_textures_location);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::bind_cube_map_texture(Magnum::GL::CubeMapTextureArray& texture)\n {\n texture.bind(_cube_map_textures_location);\n return *this;\n }\n\n PhongMultiLight& PhongMultiLight::bind_cube_map_color_texture(Magnum::GL::CubeMapTextureArray& texture)\n {\n texture.bind(_cube_map_color_textures_location);\n return *this;\n }\n\n Magnum::Int PhongMultiLight::max_lights() const { return _max_lights; }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > phong_multi_light.hpp
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#include <robot_dart/gui/magnum/gs/light.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/phong_multi_light.hpp
File List > gs > phong_multi_light.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_PHONG_MULTI_LIGHT_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_PHONG_MULTI_LIGHT_HPP\n\n#include <robot_dart/gui/magnum/gs/light.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class PhongMultiLight : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using Normal = Magnum::Shaders::Generic3D::Normal;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n AmbientTexture = 1 << 0, \n DiffuseTexture = 1 << 1, \n SpecularTexture = 1 << 2 \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit PhongMultiLight(Flags flags = {}, Magnum::Int max_lights = 10);\n explicit PhongMultiLight(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n PhongMultiLight& set_material(Material& material);\n PhongMultiLight& set_light(Magnum::Int i, const Light& light);\n\n PhongMultiLight& set_transformation_matrix(const Magnum::Matrix4& matrix);\n PhongMultiLight& set_camera_matrix(const Magnum::Matrix4& matrix);\n PhongMultiLight& set_normal_matrix(const Magnum::Matrix3x3& matrix);\n PhongMultiLight& set_projection_matrix(const Magnum::Matrix4& matrix);\n\n PhongMultiLight& set_far_plane(Magnum::Float far_plane);\n PhongMultiLight& set_is_shadowed(bool shadows);\n PhongMultiLight& set_transparent_shadows(bool shadows);\n PhongMultiLight& set_specular_strength(Magnum::Float specular_strength);\n\n PhongMultiLight& bind_shadow_texture(Magnum::GL::Texture2DArray& texture);\n PhongMultiLight& bind_shadow_color_texture(Magnum::GL::Texture2DArray& texture);\n PhongMultiLight& bind_cube_map_texture(Magnum::GL::CubeMapTextureArray& texture);\n PhongMultiLight& bind_cube_map_color_texture(Magnum::GL::CubeMapTextureArray& texture);\n\n Magnum::Int max_lights() const;\n\n private:\n Flags _flags;\n Magnum::Int _max_lights = 10;\n Magnum::Int _transformation_matrix_uniform{0}, _camera_matrix_uniform{7}, _projection_matrix_uniform{1}, _normal_matrix_uniform{2},\n _shininess_uniform{3}, _ambient_color_uniform{4}, _diffuse_color_uniform{5}, _specular_color_uniform{6}, _specular_strength_uniform{11},\n _lights_uniform{12}, _lights_matrices_uniform, _far_plane_uniform{8}, _is_shadowed_uniform{9}, _transparent_shadows_uniform{10},\n _shadow_textures_location{3}, _cube_map_textures_location{4}, _shadow_color_textures_location{5}, _cube_map_color_textures_location{6};\n const Magnum::Int _light_loc_size = 13;\n };\n\n CORRADE_ENUMSET_OPERATORS(PhongMultiLight::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > shadow_map.cpp
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#include \"shadow_map.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map.cpp
File List > gs > shadow_map.cpp
Go to the documentation of this file
#include \"shadow_map.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n ShadowMap::ShadowMap(ShadowMap::Flags flags) : _flags(flags)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"ShadowMap.vert\"));\n frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"ShadowMap.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n attachShaders({vert, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n }\n\n if (!Magnum::GL::Context::current()\n .isExtensionSupported<Magnum::GL::Extensions::ARB::shading_language_420pack>(version)\n && flags) {\n setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n }\n }\n\n ShadowMap::ShadowMap(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n ShadowMap::Flags ShadowMap::flags() const { return _flags; }\n\n ShadowMap& ShadowMap::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n ShadowMap& ShadowMap::set_projection_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_projection_matrix_uniform, matrix);\n return *this;\n }\n\n ShadowMap& ShadowMap::set_material(Material& material)\n {\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > shadow_map.hpp
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#include <robot_dart/gui/magnum/gs/material.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map.hpp
File List > gs > shadow_map.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class ShadowMap : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n DiffuseTexture = 1 << 0, \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit ShadowMap(Flags flags = {});\n explicit ShadowMap(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n ShadowMap& set_transformation_matrix(const Magnum::Matrix4& matrix);\n ShadowMap& set_projection_matrix(const Magnum::Matrix4& matrix);\n ShadowMap& set_material(Material& material);\n\n private:\n Flags _flags;\n Magnum::Int _transformation_matrix_uniform{0}, _projection_matrix_uniform{1}, _diffuse_color_uniform{2};\n };\n\n CORRADE_ENUMSET_OPERATORS(ShadowMap::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gs > shadow_map_color.cpp
Go to the source code of this file
#include \"shadow_map_color.hpp\"#include \"create_compatibility_shader.hpp\"#include <Magnum/GL/Texture.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map_color.cpp
File List > gs > shadow_map_color.cpp
Go to the documentation of this file
#include \"shadow_map_color.hpp\"\n#include \"create_compatibility_shader.hpp\"\n\n#include <Magnum/GL/Texture.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n ShadowMapColor::ShadowMapColor(ShadowMapColor::Flags flags) : _flags(flags)\n {\n Corrade::Utility::Resource rs_shaders(\"RobotDARTShaders\");\n\n const Magnum::GL::Version version = Magnum::GL::Version::GL320;\n\n Magnum::GL::Shader vert = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Vertex);\n Magnum::GL::Shader frag = Magnum::Shaders::Implementation::createCompatibilityShader(\n rs_shaders, version, Magnum::GL::Shader::Type::Fragment);\n\n std::string defines = \"#define POSITION_ATTRIBUTE_LOCATION \" + std::to_string(Position::Location) + \"\\n\";\n defines += \"#define TEXTURECOORDINATES_ATTRIBUTE_LOCATION \" + std::to_string(TextureCoordinates::Location) + \"\\n\";\n\n vert.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(defines)\n .addSource(rs_shaders.get(\"ShadowMap.vert\"));\n frag.addSource(flags ? \"#define TEXTURED\\n\" : \"\")\n .addSource(rs_shaders.get(\"ShadowMapColor.frag\"));\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(Magnum::GL::Shader::compile({vert, frag}));\n\n attachShaders({vert, frag});\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_attrib_location>(version)) {\n bindAttributeLocation(Position::Location, \"position\");\n if (flags)\n bindAttributeLocation(TextureCoordinates::Location, \"textureCoords\");\n }\n\n CORRADE_INTERNAL_ASSERT_OUTPUT(link());\n\n if (!Magnum::GL::Context::current().isExtensionSupported<Magnum::GL::Extensions::ARB::explicit_uniform_location>(version)) {\n _transformation_matrix_uniform = uniformLocation(\"transformationMatrix\");\n _projection_matrix_uniform = uniformLocation(\"projectionMatrix\");\n _diffuse_color_uniform = uniformLocation(\"diffuseColor\");\n }\n\n if (!Magnum::GL::Context::current()\n .isExtensionSupported<Magnum::GL::Extensions::ARB::shading_language_420pack>(version)\n && flags) {\n setUniform(uniformLocation(\"diffuseTexture\"), DiffuseTextureLayer);\n }\n }\n\n ShadowMapColor::ShadowMapColor(Magnum::NoCreateT) noexcept : Magnum::GL::AbstractShaderProgram{Magnum::NoCreate} {}\n\n ShadowMapColor::Flags ShadowMapColor::flags() const { return _flags; }\n\n ShadowMapColor& ShadowMapColor::set_transformation_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_transformation_matrix_uniform, matrix);\n return *this;\n }\n\n ShadowMapColor& ShadowMapColor::set_projection_matrix(const Magnum::Matrix4& matrix)\n {\n setUniform(_projection_matrix_uniform, matrix);\n return *this;\n }\n\n ShadowMapColor& ShadowMapColor::set_material(Material& material)\n {\n if (material.has_diffuse_texture() && (_flags & Flag::DiffuseTexture)) {\n (*material.diffuse_texture()).bind(DiffuseTextureLayer);\n setUniform(_diffuse_color_uniform, Magnum::Color4{1.0f});\n }\n else\n setUniform(_diffuse_color_uniform, material.diffuse_color());\n\n return *this;\n }\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gs > shadow_map_color.hpp
Go to the source code of this file
#include <robot_dart/gui/magnum/gs/material.hpp>#include <Corrade/Containers/ArrayView.h>#include <Corrade/Containers/Reference.h>#include <Corrade/Utility/Assert.h>#include <Magnum/GL/AbstractShaderProgram.h>#include <Magnum/Math/Color.h>#include <Magnum/Math/Matrix4.h>#include <Magnum/Shaders/Generic.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/gs/shadow_map_color.hpp
File List > gs > shadow_map_color.hpp
Go to the documentation of this file
#ifndef ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_COLOR_HPP\n#define ROBOT_DART_GUI_MAGNUM_GS_SHADOW_MAP_COLOR_HPP\n\n#include <robot_dart/gui/magnum/gs/material.hpp>\n\n#include <Corrade/Containers/ArrayView.h>\n#include <Corrade/Containers/Reference.h>\n#include <Corrade/Utility/Assert.h>\n\n#include <Magnum/GL/AbstractShaderProgram.h>\n#include <Magnum/Math/Color.h>\n#include <Magnum/Math/Matrix4.h>\n#include <Magnum/Shaders/Generic.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace gs {\n class ShadowMapColor : public Magnum::GL::AbstractShaderProgram {\n public:\n using Position = Magnum::Shaders::Generic3D::Position;\n using TextureCoordinates = Magnum::Shaders::Generic3D::TextureCoordinates;\n\n enum class Flag : Magnum::UnsignedByte {\n DiffuseTexture = 1 << 0, \n };\n\n using Flags = Magnum::Containers::EnumSet<Flag>;\n\n explicit ShadowMapColor(Flags flags = {});\n explicit ShadowMapColor(Magnum::NoCreateT) noexcept;\n\n Flags flags() const;\n\n ShadowMapColor& set_transformation_matrix(const Magnum::Matrix4& matrix);\n ShadowMapColor& set_projection_matrix(const Magnum::Matrix4& matrix);\n ShadowMapColor& set_material(Material& material);\n\n private:\n Flags _flags;\n Magnum::Int _transformation_matrix_uniform{0}, _projection_matrix_uniform{1}, _diffuse_color_uniform{2};\n };\n\n CORRADE_ENUMSET_OPERATORS(ShadowMapColor::Flags)\n } // namespace gs\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > sensor
"},{"location":"api/dir_2c74a777547786aaf50e99ba400e19fa/#files","title":"Files","text":"Type Name file camera.cpp file camera.hppThe documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/
FileList > gui > magnum > sensor > camera.cpp
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#include \"camera.hpp\"#include <Corrade/Containers/ArrayViewStl.h>#include <Corrade/Containers/StridedArrayView.h>#include <Corrade/Utility/Algorithms.h>#include <Magnum/GL/PixelFormat.h>#include <Magnum/GL/RenderbufferFormat.h>#include <Magnum/GL/Renderer.h>#include <Magnum/GL/TextureFormat.h>#include <Magnum/ImageView.h>#include <Magnum/PixelFormat.h>#include <robot_dart/gui/magnum/utils_headers_eigen.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.cpp
File: api/sensor_2camera_8cpp_source.md
Line 46 in Markdown file: unexpected '}'
_framebuffer = Magnum::GL::Framebuffer({{}, {w, h}});\nFileList > gui > magnum > sensor > camera.hpp
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#include <robot_dart/gui/magnum/base_application.hpp>#include <robot_dart/gui/magnum/gs/helper.hpp>#include <robot_dart/sensor/sensor.hpp>#include <Magnum/GL/Framebuffer.h>#include <Magnum/GL/Renderbuffer.h>#include <Magnum/PixelFormat.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/sensor/camera.hpp
File List > gui > magnum > sensor > camera.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_SENSOR_CAMERA_HPP\n#define ROBOT_DART_GUI_MAGNUM_SENSOR_CAMERA_HPP\n\n#include <robot_dart/gui/magnum/base_application.hpp>\n#include <robot_dart/gui/magnum/gs/helper.hpp>\n#include <robot_dart/sensor/sensor.hpp>\n\n#include <Magnum/GL/Framebuffer.h>\n#include <Magnum/GL/Renderbuffer.h>\n#include <Magnum/PixelFormat.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n namespace sensor {\n class Camera : public robot_dart::sensor::Sensor {\n public:\n Camera(BaseApplication* app, size_t width, size_t height, size_t freq = 30, bool draw_debug = false);\n ~Camera() {}\n\n void init() override;\n\n void calculate(double) override;\n\n std::string type() const override;\n\n void attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity()) override;\n\n void attach_to_joint(dart::dynamics::Joint*, const Eigen::Isometry3d&) override\n {\n ROBOT_DART_WARNING(true, \"You cannot attach a camera to a joint!\");\n }\n\n gs::Camera& camera() { return *_camera; }\n const gs::Camera& camera() const { return *_camera; }\n\n Eigen::Matrix3d camera_intrinsic_matrix() const;\n Eigen::Matrix4d camera_extrinsic_matrix() const;\n\n bool drawing_debug() const { return _draw_debug; }\n void draw_debug(bool draw = true) { _draw_debug = draw; }\n\n void look_at(const Eigen::Vector3d& camera_pos, const Eigen::Vector3d& look_at = Eigen::Vector3d(0, 0, 0), const Eigen::Vector3d& up = Eigen::Vector3d(0, 0, 1));\n\n // this will use the default FPS of the camera if fps == -1\n void record_video(const std::string& video_fname)\n {\n _camera->record_video(video_fname, _frequency);\n }\n\n Magnum::Image2D* magnum_image()\n {\n if (_camera->image())\n return &(*_camera->image());\n return nullptr;\n }\n\n Image image()\n {\n auto image = magnum_image();\n if (image)\n return gs::rgb_from_image(image);\n return Image();\n }\n\n Magnum::Image2D* magnum_depth_image()\n {\n if (_camera->depth_image())\n return &(*_camera->depth_image());\n return nullptr;\n }\n\n // This is for visualization purposes\n GrayscaleImage depth_image();\n\n // Image filled with depth buffer values\n GrayscaleImage raw_depth_image();\n\n // \"Image\" filled with depth buffer values (this returns an array of doubles)\n DepthImage depth_array();\n\n protected:\n Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};\n Magnum::PixelFormat _format;\n Magnum::GL::Renderbuffer _color, _depth;\n\n BaseApplication* _magnum_app;\n size_t _width, _height;\n\n std::unique_ptr<gs::Camera> _camera;\n\n bool _draw_debug;\n };\n } // namespace sensor\n } // namespace magnum\n } // namespace gui\n\n namespace sensor {\n using gui::magnum::sensor::Camera;\n }\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > types.hpp
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#include <Magnum/SceneGraph/Camera.h>#include <Magnum/SceneGraph/MatrixTransformation3D.h>#include <Magnum/SceneGraph/Scene.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/types.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_TYPES_HPP\n#define ROBOT_DART_GUI_MAGNUM_TYPES_HPP\n\n#include <Magnum/SceneGraph/Camera.h>\n#include <Magnum/SceneGraph/MatrixTransformation3D.h>\n#include <Magnum/SceneGraph/Scene.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n using Object3D = Magnum::SceneGraph::Object<Magnum::SceneGraph::MatrixTransformation3D>;\n using Scene3D = Magnum::SceneGraph::Scene<Magnum::SceneGraph::MatrixTransformation3D>;\n using Camera3D = Magnum::SceneGraph::Camera3D;\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > utils_headers_eigen.hpp
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#include <Magnum/EigenIntegration/GeometryIntegration.h>#include <Magnum/EigenIntegration/Integration.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/utils_headers_eigen.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_UTILS_HEADERS_EXTERNAL_GUI_HPP\n#define ROBOT_DART_GUI_MAGNUM_UTILS_HEADERS_EXTERNAL_GUI_HPP\n\n#pragma GCC system_header\n\n#include <Magnum/EigenIntegration/GeometryIntegration.h>\n#include <Magnum/EigenIntegration/Integration.h>\n\n#endif\nFileList > gui > magnum > windowless_gl_application.cpp
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#include \"windowless_gl_application.hpp\"#include <Magnum/GL/RenderbufferFormat.h>#include <Magnum/GL/Renderer.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_gl_application.cpp
File: api/windowless__gl__application_8cpp_source.md
Line 42 in Markdown file: unexpected '}'
_framebuffer = Magnum::GL::Framebuffer({{}, {w, h}});\nFileList > gui > magnum > windowless_gl_application.hpp
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#include <robot_dart/gui/magnum/base_application.hpp>#include <Magnum/GL/Renderbuffer.h>#include <Magnum/PixelFormat.h>The documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_gl_application.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_GLX_APPLICATION_HPP\n#define ROBOT_DART_GUI_MAGNUM_GLX_APPLICATION_HPP\n\n#include <robot_dart/gui/magnum/base_application.hpp>\n\n#include <Magnum/GL/Renderbuffer.h>\n#include <Magnum/PixelFormat.h>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n class WindowlessGLApplication : public BaseApplication, public Magnum::Platform::WindowlessApplication {\n public:\n explicit WindowlessGLApplication(int argc, char** argv, RobotDARTSimu* simu, const GraphicsConfiguration& configuration = GraphicsConfiguration());\n ~WindowlessGLApplication();\n\n void render() override;\n\n protected:\n RobotDARTSimu* _simu;\n bool _draw_main_camera, _draw_debug;\n Magnum::Color4 _bg_color;\n Magnum::GL::Framebuffer _framebuffer{Magnum::NoCreate};\n Magnum::PixelFormat _format;\n Magnum::GL::Renderbuffer _color{Magnum::NoCreate}, _depth{Magnum::NoCreate};\n // size_t _index = 0;\n\n virtual int exec() override { return 0; }\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > magnum > windowless_graphics.cpp
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#include <robot_dart/gui/magnum/windowless_graphics.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_graphics.cpp
File List > gui > magnum > windowless_graphics.cpp
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#include <robot_dart/gui/magnum/windowless_graphics.hpp>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n void WindowlessGraphics::set_simu(RobotDARTSimu* simu)\n {\n BaseGraphics<WindowlessGLApplication>::set_simu(simu);\n // we should not synchronize by default if we want windowless graphics (usually used only for sensors)\n simu->scheduler().set_sync(false);\n // disable summary text when windowless graphics activated\n simu->enable_text_panel(false);\n simu->enable_status_bar(false);\n }\n\n GraphicsConfiguration WindowlessGraphics::default_configuration()\n {\n GraphicsConfiguration config;\n // by default we do not draw text in windowless mode\n config.draw_debug = false;\n config.draw_text = false;\n\n return config;\n }\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\nFileList > gui > magnum > windowless_graphics.hpp
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#include <robot_dart/gui/magnum/base_graphics.hpp>#include <robot_dart/gui/magnum/windowless_gl_application.hpp>The documentation for this class was generated from the following file robot_dart/gui/magnum/windowless_graphics.hpp
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#ifndef ROBOT_DART_GUI_MAGNUM_WINDOWLESS_GRAPHICS_HPP\n#define ROBOT_DART_GUI_MAGNUM_WINDOWLESS_GRAPHICS_HPP\n\n#include <robot_dart/gui/magnum/base_graphics.hpp>\n#include <robot_dart/gui/magnum/windowless_gl_application.hpp>\n\nnamespace robot_dart {\n namespace gui {\n namespace magnum {\n class WindowlessGraphics : public BaseGraphics<WindowlessGLApplication> {\n public:\n WindowlessGraphics(const GraphicsConfiguration& configuration = default_configuration()) : BaseGraphics<WindowlessGLApplication>(configuration) {}\n ~WindowlessGraphics() {}\n\n void set_simu(RobotDARTSimu* simu) override;\n\n static GraphicsConfiguration default_configuration();\n };\n } // namespace magnum\n } // namespace gui\n} // namespace robot_dart\n\n#endif\nFileList > gui > stb_image_write.h
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#include <stdlib.h>typedef void stbi_write_func(void *context, void *data, int size);\nint stbi_write_force_png_filter;\nint stbi_write_png_compression_level;\nint stbi_write_tga_with_rle;\nSTBIWDEF void stbi_flip_vertically_on_write (\n int flip_boolean\n) \nSTBIWDEF int stbi_write_bmp (\n char const * filename,\n int w,\n int h,\n int comp,\n const void * data\n) \nSTBIWDEF int stbi_write_bmp_to_func (\n stbi_write_func * func,\n void * context,\n int w,\n int h,\n int comp,\n const void * data\n) \nSTBIWDEF int stbi_write_hdr (\n char const * filename,\n int w,\n int h,\n int comp,\n const float * data\n) \nSTBIWDEF int stbi_write_hdr_to_func (\n stbi_write_func * func,\n void * context,\n int w,\n int h,\n int comp,\n const float * data\n) \nSTBIWDEF int stbi_write_jpg (\n char const * filename,\n int x,\n int y,\n int comp,\n const void * data,\n int quality\n) \nSTBIWDEF int stbi_write_jpg_to_func (\n stbi_write_func * func,\n void * context,\n int x,\n int y,\n int comp,\n const void * data,\n int quality\n) \nSTBIWDEF int stbi_write_png (\n char const * filename,\n int w,\n int h,\n int comp,\n const void * data,\n int stride_in_bytes\n) \nSTBIWDEF int stbi_write_png_to_func (\n stbi_write_func * func,\n void * context,\n int w,\n int h,\n int comp,\n const void * data,\n int stride_in_bytes\n) \nSTBIWDEF int stbi_write_tga (\n char const * filename,\n int w,\n int h,\n int comp,\n const void * data\n) \nSTBIWDEF int stbi_write_tga_to_func (\n stbi_write_func * func,\n void * context,\n int w,\n int h,\n int comp,\n const void * data\n) \n#define STBIWDEF extern\nThe documentation for this class was generated from the following file robot_dart/gui/stb_image_write.h
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/* stb_image_write - v1.13 - public domain - http://nothings.org/stb\n writes out PNG/BMP/TGA/JPEG/HDR images to C stdio - Sean Barrett 2010-2015\n no warranty implied; use at your own risk\n\n Before #including,\n\n #define STB_IMAGE_WRITE_IMPLEMENTATION\n\n in the file that you want to have the implementation.\n\n Will probably not work correctly with strict-aliasing optimizations.\n\nABOUT:\n\n This header file is a library for writing images to C stdio or a callback.\n\n The PNG output is not optimal; it is 20-50% larger than the file\n written by a decent optimizing implementation; though providing a custom\n zlib compress function (see STBIW_ZLIB_COMPRESS) can mitigate that.\n This library is designed for source code compactness and simplicity,\n not optimal image file size or run-time performance.\n\nBUILDING:\n\n You can #define STBIW_ASSERT(x) before the #include to avoid using assert.h.\n You can #define STBIW_MALLOC(), STBIW_REALLOC(), and STBIW_FREE() to replace\n malloc,realloc,free.\n You can #define STBIW_MEMMOVE() to replace memmove()\n You can #define STBIW_ZLIB_COMPRESS to use a custom zlib-style compress function\n for PNG compression (instead of the builtin one), it must have the following signature:\n unsigned char * my_compress(unsigned char *data, int data_len, int *out_len, int quality);\n The returned data will be freed with STBIW_FREE() (free() by default),\n so it must be heap allocated with STBIW_MALLOC() (malloc() by default),\n\nUNICODE:\n\n If compiling for Windows and you wish to use Unicode filenames, compile\n with\n #define STBIW_WINDOWS_UTF8\n and pass utf8-encoded filenames. Call stbiw_convert_wchar_to_utf8 to convert\n Windows wchar_t filenames to utf8.\n\nUSAGE:\n\n There are five functions, one for each image file format:\n\n int stbi_write_png(char const *filename, int w, int h, int comp, const void *data, int stride_in_bytes);\n int stbi_write_bmp(char const *filename, int w, int h, int comp, const void *data);\n int stbi_write_tga(char const *filename, int w, int h, int comp, const void *data);\n int stbi_write_jpg(char const *filename, int w, int h, int comp, const void *data, int quality);\n int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);\n\n void stbi_flip_vertically_on_write(int flag); // flag is non-zero to flip data vertically\n\n There are also five equivalent functions that use an arbitrary write function. You are\n expected to open/close your file-equivalent before and after calling these:\n\n int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data, int stride_in_bytes);\n int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);\n int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);\n int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);\n int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality);\n\n where the callback is:\n void stbi_write_func(void *context, void *data, int size);\n\n You can configure it with these global variables:\n int stbi_write_tga_with_rle; // defaults to true; set to 0 to disable RLE\n int stbi_write_png_compression_level; // defaults to 8; set to higher for more compression\n int stbi_write_force_png_filter; // defaults to -1; set to 0..5 to force a filter mode\n\n\n You can define STBI_WRITE_NO_STDIO to disable the file variant of these\n functions, so the library will not use stdio.h at all. However, this will\n also disable HDR writing, because it requires stdio for formatted output.\n\n Each function returns 0 on failure and non-0 on success.\n\n The functions create an image file defined by the parameters. The image\n is a rectangle of pixels stored from left-to-right, top-to-bottom.\n Each pixel contains 'comp' channels of data stored interleaved with 8-bits\n per channel, in the following order: 1=Y, 2=YA, 3=RGB, 4=RGBA. (Y is\n monochrome color.) The rectangle is 'w' pixels wide and 'h' pixels tall.\n The *data pointer points to the first byte of the top-left-most pixel.\n For PNG, \"stride_in_bytes\" is the distance in bytes from the first byte of\n a row of pixels to the first byte of the next row of pixels.\n\n PNG creates output files with the same number of components as the input.\n The BMP format expands Y to RGB in the file format and does not\n output alpha.\n\n PNG supports writing rectangles of data even when the bytes storing rows of\n data are not consecutive in memory (e.g. sub-rectangles of a larger image),\n by supplying the stride between the beginning of adjacent rows. The other\n formats do not. (Thus you cannot write a native-format BMP through the BMP\n writer, both because it is in BGR order and because it may have padding\n at the end of the line.)\n\n PNG allows you to set the deflate compression level by setting the global\n variable 'stbi_write_png_compression_level' (it defaults to 8).\n\n HDR expects linear float data. Since the format is always 32-bit rgb(e)\n data, alpha (if provided) is discarded, and for monochrome data it is\n replicated across all three channels.\n\n TGA supports RLE or non-RLE compressed data. To use non-RLE-compressed\n data, set the global variable 'stbi_write_tga_with_rle' to 0.\n\n JPEG does ignore alpha channels in input data; quality is between 1 and 100.\n Higher quality looks better but results in a bigger image.\n JPEG baseline (no JPEG progressive).\n\nCREDITS:\n\n\n Sean Barrett - PNG/BMP/TGA \n Baldur Karlsson - HDR\n Jean-Sebastien Guay - TGA monochrome\n Tim Kelsey - misc enhancements\n Alan Hickman - TGA RLE\n Emmanuel Julien - initial file IO callback implementation\n Jon Olick - original jo_jpeg.cpp code\n Daniel Gibson - integrate JPEG, allow external zlib\n Aarni Koskela - allow choosing PNG filter\n\n bugfixes:\n github:Chribba\n Guillaume Chereau\n github:jry2\n github:romigrou\n Sergio Gonzalez\n Jonas Karlsson\n Filip Wasil\n Thatcher Ulrich\n github:poppolopoppo\n Patrick Boettcher\n github:xeekworx\n Cap Petschulat\n Simon Rodriguez\n Ivan Tikhonov\n github:ignotion\n Adam Schackart\n\nLICENSE\n\n See end of file for license information.\n\n*/\n\n#pragma GCC system_header\n\n#ifndef INCLUDE_STB_IMAGE_WRITE_H\n#define INCLUDE_STB_IMAGE_WRITE_H\n\n#include <stdlib.h>\n\n// if STB_IMAGE_WRITE_STATIC causes problems, try defining STBIWDEF to 'inline' or 'static inline'\n#ifndef STBIWDEF\n#ifdef STB_IMAGE_WRITE_STATIC\n#define STBIWDEF static\n#else\n#ifdef __cplusplus\n#define STBIWDEF extern \"C\"\n#else\n#define STBIWDEF extern\n#endif\n#endif\n#endif\n\n#ifndef STB_IMAGE_WRITE_STATIC // C++ forbids static forward declarations\nextern int stbi_write_tga_with_rle;\nextern int stbi_write_png_compression_level;\nextern int stbi_write_force_png_filter;\n#endif\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_png(char const *filename, int w, int h, int comp, const void *data, int stride_in_bytes);\nSTBIWDEF int stbi_write_bmp(char const *filename, int w, int h, int comp, const void *data);\nSTBIWDEF int stbi_write_tga(char const *filename, int w, int h, int comp, const void *data);\nSTBIWDEF int stbi_write_hdr(char const *filename, int w, int h, int comp, const float *data);\nSTBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void *data, int quality);\n\n#ifdef STBI_WINDOWS_UTF8\nSTBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input);\n#endif\n#endif\n\ntypedef void stbi_write_func(void *context, void *data, int size);\n\nSTBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data, int stride_in_bytes);\nSTBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);\nSTBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const void *data);\nSTBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int w, int h, int comp, const float *data);\nSTBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality);\n\nSTBIWDEF void stbi_flip_vertically_on_write(int flip_boolean);\n\n#endif//INCLUDE_STB_IMAGE_WRITE_H\n\n#ifdef STB_IMAGE_WRITE_IMPLEMENTATION\n\n#ifdef _WIN32\n #ifndef _CRT_SECURE_NO_WARNINGS\n #define _CRT_SECURE_NO_WARNINGS\n #endif\n #ifndef _CRT_NONSTDC_NO_DEPRECATE\n #define _CRT_NONSTDC_NO_DEPRECATE\n #endif\n#endif\n\n#ifndef STBI_WRITE_NO_STDIO\n#include <stdio.h>\n#endif // STBI_WRITE_NO_STDIO\n\n#include <stdarg.h>\n#include <stdlib.h>\n#include <string.h>\n#include <math.h>\n\n#if defined(STBIW_MALLOC) && defined(STBIW_FREE) && (defined(STBIW_REALLOC) || defined(STBIW_REALLOC_SIZED))\n// ok\n#elif !defined(STBIW_MALLOC) && !defined(STBIW_FREE) && !defined(STBIW_REALLOC) && !defined(STBIW_REALLOC_SIZED)\n// ok\n#else\n#error \"Must define all or none of STBIW_MALLOC, STBIW_FREE, and STBIW_REALLOC (or STBIW_REALLOC_SIZED).\"\n#endif\n\n#ifndef STBIW_MALLOC\n#define STBIW_MALLOC(sz) malloc(sz)\n#define STBIW_REALLOC(p,newsz) realloc(p,newsz)\n#define STBIW_FREE(p) free(p)\n#endif\n\n#ifndef STBIW_REALLOC_SIZED\n#define STBIW_REALLOC_SIZED(p,oldsz,newsz) STBIW_REALLOC(p,newsz)\n#endif\n\n\n#ifndef STBIW_MEMMOVE\n#define STBIW_MEMMOVE(a,b,sz) memmove(a,b,sz)\n#endif\n\n\n#ifndef STBIW_ASSERT\n#include <assert.h>\n#define STBIW_ASSERT(x) assert(x)\n#endif\n\n#define STBIW_UCHAR(x) (unsigned char) ((x) & 0xff)\n\n#ifdef STB_IMAGE_WRITE_STATIC\nstatic int stbi__flip_vertically_on_write=0;\nstatic int stbi_write_png_compression_level = 8;\nstatic int stbi_write_tga_with_rle = 1;\nstatic int stbi_write_force_png_filter = -1;\n#else\nint stbi_write_png_compression_level = 8;\nint stbi__flip_vertically_on_write=0;\nint stbi_write_tga_with_rle = 1;\nint stbi_write_force_png_filter = -1;\n#endif\n\nSTBIWDEF void stbi_flip_vertically_on_write(int flag)\n{\n stbi__flip_vertically_on_write = flag;\n}\n\ntypedef struct\n{\n stbi_write_func *func;\n void *context;\n} stbi__write_context;\n\n// initialize a callback-based context\nstatic void stbi__start_write_callbacks(stbi__write_context *s, stbi_write_func *c, void *context)\n{\n s->func = c;\n s->context = context;\n}\n\n#ifndef STBI_WRITE_NO_STDIO\n\nstatic void stbi__stdio_write(void *context, void *data, int size)\n{\n fwrite(data,1,size,(FILE*) context);\n}\n\n#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)\n#ifdef __cplusplus\n#define STBIW_EXTERN extern \"C\"\n#else\n#define STBIW_EXTERN extern\n#endif\nSTBIW_EXTERN __declspec(dllimport) int __stdcall MultiByteToWideChar(unsigned int cp, unsigned long flags, const char *str, int cbmb, wchar_t *widestr, int cchwide);\nSTBIW_EXTERN __declspec(dllimport) int __stdcall WideCharToMultiByte(unsigned int cp, unsigned long flags, const wchar_t *widestr, int cchwide, char *str, int cbmb, const char *defchar, int *used_default);\n\nSTBIWDEF int stbiw_convert_wchar_to_utf8(char *buffer, size_t bufferlen, const wchar_t* input)\n{\n return WideCharToMultiByte(65001 /* UTF8 */, 0, input, -1, buffer, (int) bufferlen, NULL, NULL);\n}\n#endif\n\nstatic FILE *stbiw__fopen(char const *filename, char const *mode)\n{\n FILE *f;\n#if defined(_MSC_VER) && defined(STBI_WINDOWS_UTF8)\n wchar_t wMode[64];\n wchar_t wFilename[1024];\n if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, filename, -1, wFilename, sizeof(wFilename)))\n return 0;\n\n if (0 == MultiByteToWideChar(65001 /* UTF8 */, 0, mode, -1, wMode, sizeof(wMode)))\n return 0;\n\n#if _MSC_VER >= 1400\n if (0 != _wfopen_s(&f, wFilename, wMode))\n f = 0;\n#else\n f = _wfopen(wFilename, wMode);\n#endif\n\n#elif defined(_MSC_VER) && _MSC_VER >= 1400\n if (0 != fopen_s(&f, filename, mode))\n f=0;\n#else\n f = fopen(filename, mode);\n#endif\n return f;\n}\n\nstatic int stbi__start_write_file(stbi__write_context *s, const char *filename)\n{\n FILE *f = stbiw__fopen(filename, \"wb\");\n stbi__start_write_callbacks(s, stbi__stdio_write, (void *) f);\n return f != NULL;\n}\n\nstatic void stbi__end_write_file(stbi__write_context *s)\n{\n fclose((FILE *)s->context);\n}\n\n#endif // !STBI_WRITE_NO_STDIO\n\ntypedef unsigned int stbiw_uint32;\ntypedef int stb_image_write_test[sizeof(stbiw_uint32)==4 ? 1 : -1];\n\nstatic void stbiw__writefv(stbi__write_context *s, const char *fmt, va_list v)\n{\n while (*fmt) {\n switch (*fmt++) {\n case ' ': break;\n case '1': { unsigned char x = STBIW_UCHAR(va_arg(v, int));\n s->func(s->context,&x,1);\n break; }\n case '2': { int x = va_arg(v,int);\n unsigned char b[2];\n b[0] = STBIW_UCHAR(x);\n b[1] = STBIW_UCHAR(x>>8);\n s->func(s->context,b,2);\n break; }\n case '4': { stbiw_uint32 x = va_arg(v,int);\n unsigned char b[4];\n b[0]=STBIW_UCHAR(x);\n b[1]=STBIW_UCHAR(x>>8);\n b[2]=STBIW_UCHAR(x>>16);\n b[3]=STBIW_UCHAR(x>>24);\n s->func(s->context,b,4);\n break; }\n default:\n STBIW_ASSERT(0);\n return;\n }\n }\n}\n\nstatic void stbiw__writef(stbi__write_context *s, const char *fmt, ...)\n{\n va_list v;\n va_start(v, fmt);\n stbiw__writefv(s, fmt, v);\n va_end(v);\n}\n\nstatic void stbiw__putc(stbi__write_context *s, unsigned char c)\n{\n s->func(s->context, &c, 1);\n}\n\nstatic void stbiw__write3(stbi__write_context *s, unsigned char a, unsigned char b, unsigned char c)\n{\n unsigned char arr[3];\n arr[0] = a; arr[1] = b; arr[2] = c;\n s->func(s->context, arr, 3);\n}\n\nstatic void stbiw__write_pixel(stbi__write_context *s, int rgb_dir, int comp, int write_alpha, int expand_mono, unsigned char *d)\n{\n unsigned char bg[3] = { 255, 0, 255}, px[3];\n int k;\n\n if (write_alpha < 0)\n s->func(s->context, &d[comp - 1], 1);\n\n switch (comp) {\n case 2: // 2 pixels = mono + alpha, alpha is written separately, so same as 1-channel case\n case 1:\n if (expand_mono)\n stbiw__write3(s, d[0], d[0], d[0]); // monochrome bmp\n else\n s->func(s->context, d, 1); // monochrome TGA\n break;\n case 4:\n if (!write_alpha) {\n // composite against pink background\n for (k = 0; k < 3; ++k)\n px[k] = bg[k] + ((d[k] - bg[k]) * d[3]) / 255;\n stbiw__write3(s, px[1 - rgb_dir], px[1], px[1 + rgb_dir]);\n break;\n }\n /* FALLTHROUGH */\n case 3:\n stbiw__write3(s, d[1 - rgb_dir], d[1], d[1 + rgb_dir]);\n break;\n }\n if (write_alpha > 0)\n s->func(s->context, &d[comp - 1], 1);\n}\n\nstatic void stbiw__write_pixels(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, void *data, int write_alpha, int scanline_pad, int expand_mono)\n{\n stbiw_uint32 zero = 0;\n int i,j, j_end;\n\n if (y <= 0)\n return;\n\n if (stbi__flip_vertically_on_write)\n vdir *= -1;\n\n if (vdir < 0) {\n j_end = -1; j = y-1;\n } else {\n j_end = y; j = 0;\n }\n\n for (; j != j_end; j += vdir) {\n for (i=0; i < x; ++i) {\n unsigned char *d = (unsigned char *) data + (j*x+i)*comp;\n stbiw__write_pixel(s, rgb_dir, comp, write_alpha, expand_mono, d);\n }\n s->func(s->context, &zero, scanline_pad);\n }\n}\n\nstatic int stbiw__outfile(stbi__write_context *s, int rgb_dir, int vdir, int x, int y, int comp, int expand_mono, void *data, int alpha, int pad, const char *fmt, ...)\n{\n if (y < 0 || x < 0) {\n return 0;\n } else {\n va_list v;\n va_start(v, fmt);\n stbiw__writefv(s, fmt, v);\n va_end(v);\n stbiw__write_pixels(s,rgb_dir,vdir,x,y,comp,data,alpha,pad, expand_mono);\n return 1;\n }\n}\n\nstatic int stbi_write_bmp_core(stbi__write_context *s, int x, int y, int comp, const void *data)\n{\n int pad = (-x*3) & 3;\n return stbiw__outfile(s,-1,-1,x,y,comp,1,(void *) data,0,pad,\n \"11 4 22 4\" \"4 44 22 444444\",\n 'B', 'M', 14+40+(x*3+pad)*y, 0,0, 14+40, // file header\n 40, x,y, 1,24, 0,0,0,0,0,0); // bitmap header\n}\n\nSTBIWDEF int stbi_write_bmp_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)\n{\n stbi__write_context s;\n stbi__start_write_callbacks(&s, func, context);\n return stbi_write_bmp_core(&s, x, y, comp, data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_bmp(char const *filename, int x, int y, int comp, const void *data)\n{\n stbi__write_context s;\n if (stbi__start_write_file(&s,filename)) {\n int r = stbi_write_bmp_core(&s, x, y, comp, data);\n stbi__end_write_file(&s);\n return r;\n } else\n return 0;\n}\n#endif \n\nstatic int stbi_write_tga_core(stbi__write_context *s, int x, int y, int comp, void *data)\n{\n int has_alpha = (comp == 2 || comp == 4);\n int colorbytes = has_alpha ? comp-1 : comp;\n int format = colorbytes < 2 ? 3 : 2; // 3 color channels (RGB/RGBA) = 2, 1 color channel (Y/YA) = 3\n\n if (y < 0 || x < 0)\n return 0;\n\n if (!stbi_write_tga_with_rle) {\n return stbiw__outfile(s, -1, -1, x, y, comp, 0, (void *) data, has_alpha, 0,\n \"111 221 2222 11\", 0, 0, format, 0, 0, 0, 0, 0, x, y, (colorbytes + has_alpha) * 8, has_alpha * 8);\n } else {\n int i,j,k;\n int jend, jdir;\n\n stbiw__writef(s, \"111 221 2222 11\", 0,0,format+8, 0,0,0, 0,0,x,y, (colorbytes + has_alpha) * 8, has_alpha * 8);\n\n if (stbi__flip_vertically_on_write) {\n j = 0;\n jend = y;\n jdir = 1;\n } else {\n j = y-1;\n jend = -1;\n jdir = -1;\n }\n for (; j != jend; j += jdir) {\n unsigned char *row = (unsigned char *) data + j * x * comp;\n int len;\n\n for (i = 0; i < x; i += len) {\n unsigned char *begin = row + i * comp;\n int diff = 1;\n len = 1;\n\n if (i < x - 1) {\n ++len;\n diff = memcmp(begin, row + (i + 1) * comp, comp);\n if (diff) {\n const unsigned char *prev = begin;\n for (k = i + 2; k < x && len < 128; ++k) {\n if (memcmp(prev, row + k * comp, comp)) {\n prev += comp;\n ++len;\n } else {\n --len;\n break;\n }\n }\n } else {\n for (k = i + 2; k < x && len < 128; ++k) {\n if (!memcmp(begin, row + k * comp, comp)) {\n ++len;\n } else {\n break;\n }\n }\n }\n }\n\n if (diff) {\n unsigned char header = STBIW_UCHAR(len - 1);\n s->func(s->context, &header, 1);\n for (k = 0; k < len; ++k) {\n stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin + k * comp);\n }\n } else {\n unsigned char header = STBIW_UCHAR(len - 129);\n s->func(s->context, &header, 1);\n stbiw__write_pixel(s, -1, comp, has_alpha, 0, begin);\n }\n }\n }\n }\n return 1;\n}\n\nSTBIWDEF int stbi_write_tga_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data)\n{\n stbi__write_context s;\n stbi__start_write_callbacks(&s, func, context);\n return stbi_write_tga_core(&s, x, y, comp, (void *) data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_tga(char const *filename, int x, int y, int comp, const void *data)\n{\n stbi__write_context s;\n if (stbi__start_write_file(&s,filename)) {\n int r = stbi_write_tga_core(&s, x, y, comp, (void *) data);\n stbi__end_write_file(&s);\n return r;\n } else\n return 0;\n}\n#endif\n\n// *************************************************************************************************\n// Radiance RGBE HDR writer\n// by Baldur Karlsson\n\n#define stbiw__max(a, b) ((a) > (b) ? (a) : (b))\n\nstatic void stbiw__linear_to_rgbe(unsigned char *rgbe, float *linear)\n{\n int exponent;\n float maxcomp = stbiw__max(linear[0], stbiw__max(linear[1], linear[2]));\n\n if (maxcomp < 1e-32f) {\n rgbe[0] = rgbe[1] = rgbe[2] = rgbe[3] = 0;\n } else {\n float normalize = (float) frexp(maxcomp, &exponent) * 256.0f/maxcomp;\n\n rgbe[0] = (unsigned char)(linear[0] * normalize);\n rgbe[1] = (unsigned char)(linear[1] * normalize);\n rgbe[2] = (unsigned char)(linear[2] * normalize);\n rgbe[3] = (unsigned char)(exponent + 128);\n }\n}\n\nstatic void stbiw__write_run_data(stbi__write_context *s, int length, unsigned char databyte)\n{\n unsigned char lengthbyte = STBIW_UCHAR(length+128);\n STBIW_ASSERT(length+128 <= 255);\n s->func(s->context, &lengthbyte, 1);\n s->func(s->context, &databyte, 1);\n}\n\nstatic void stbiw__write_dump_data(stbi__write_context *s, int length, unsigned char *data)\n{\n unsigned char lengthbyte = STBIW_UCHAR(length);\n STBIW_ASSERT(length <= 128); // inconsistent with spec but consistent with official code\n s->func(s->context, &lengthbyte, 1);\n s->func(s->context, data, length);\n}\n\nstatic void stbiw__write_hdr_scanline(stbi__write_context *s, int width, int ncomp, unsigned char *scratch, float *scanline)\n{\n unsigned char scanlineheader[4] = { 2, 2, 0, 0 };\n unsigned char rgbe[4];\n float linear[3];\n int x;\n\n scanlineheader[2] = (width&0xff00)>>8;\n scanlineheader[3] = (width&0x00ff);\n\n /* skip RLE for images too small or large */\n if (width < 8 || width >= 32768) {\n for (x=0; x < width; x++) {\n switch (ncomp) {\n case 4: /* fallthrough */\n case 3: linear[2] = scanline[x*ncomp + 2];\n linear[1] = scanline[x*ncomp + 1];\n linear[0] = scanline[x*ncomp + 0];\n break;\n default:\n linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];\n break;\n }\n stbiw__linear_to_rgbe(rgbe, linear);\n s->func(s->context, rgbe, 4);\n }\n } else {\n int c,r;\n /* encode into scratch buffer */\n for (x=0; x < width; x++) {\n switch(ncomp) {\n case 4: /* fallthrough */\n case 3: linear[2] = scanline[x*ncomp + 2];\n linear[1] = scanline[x*ncomp + 1];\n linear[0] = scanline[x*ncomp + 0];\n break;\n default:\n linear[0] = linear[1] = linear[2] = scanline[x*ncomp + 0];\n break;\n }\n stbiw__linear_to_rgbe(rgbe, linear);\n scratch[x + width*0] = rgbe[0];\n scratch[x + width*1] = rgbe[1];\n scratch[x + width*2] = rgbe[2];\n scratch[x + width*3] = rgbe[3];\n }\n\n s->func(s->context, scanlineheader, 4);\n\n /* RLE each component separately */\n for (c=0; c < 4; c++) {\n unsigned char *comp = &scratch[width*c];\n\n x = 0;\n while (x < width) {\n // find first run\n r = x;\n while (r+2 < width) {\n if (comp[r] == comp[r+1] && comp[r] == comp[r+2])\n break;\n ++r;\n }\n if (r+2 >= width)\n r = width;\n // dump up to first run\n while (x < r) {\n int len = r-x;\n if (len > 128) len = 128;\n stbiw__write_dump_data(s, len, &comp[x]);\n x += len;\n }\n // if there's a run, output it\n if (r+2 < width) { // same test as what we break out of in search loop, so only true if we break'd\n // find next byte after run\n while (r < width && comp[r] == comp[x])\n ++r;\n // output run up to r\n while (x < r) {\n int len = r-x;\n if (len > 127) len = 127;\n stbiw__write_run_data(s, len, comp[x]);\n x += len;\n }\n }\n }\n }\n }\n}\n\nstatic int stbi_write_hdr_core(stbi__write_context *s, int x, int y, int comp, float *data)\n{\n if (y <= 0 || x <= 0 || data == NULL)\n return 0;\n else {\n // Each component is stored separately. Allocate scratch space for full output scanline.\n unsigned char *scratch = (unsigned char *) STBIW_MALLOC(x*4);\n int i, len;\n char buffer[128];\n char header[] = \"#?RADIANCE\\n# Written by stb_image_write.h\\nFORMAT=32-bit_rle_rgbe\\n\";\n s->func(s->context, header, sizeof(header)-1);\n\n#ifdef __STDC_WANT_SECURE_LIB__\n len = sprintf_s(buffer, sizeof(buffer), \"EXPOSURE= 1.0000000000000\\n\\n-Y %d +X %d\\n\", y, x);\n#else\n len = sprintf(buffer, \"EXPOSURE= 1.0000000000000\\n\\n-Y %d +X %d\\n\", y, x);\n#endif\n s->func(s->context, buffer, len);\n\n for(i=0; i < y; i++)\n stbiw__write_hdr_scanline(s, x, comp, scratch, data + comp*x*(stbi__flip_vertically_on_write ? y-1-i : i));\n STBIW_FREE(scratch);\n return 1;\n }\n}\n\nSTBIWDEF int stbi_write_hdr_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const float *data)\n{\n stbi__write_context s;\n stbi__start_write_callbacks(&s, func, context);\n return stbi_write_hdr_core(&s, x, y, comp, (float *) data);\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_hdr(char const *filename, int x, int y, int comp, const float *data)\n{\n stbi__write_context s;\n if (stbi__start_write_file(&s,filename)) {\n int r = stbi_write_hdr_core(&s, x, y, comp, (float *) data);\n stbi__end_write_file(&s);\n return r;\n } else\n return 0;\n}\n#endif // STBI_WRITE_NO_STDIO\n\n\n//\n// PNG writer\n//\n\n#ifndef STBIW_ZLIB_COMPRESS\n// stretchy buffer; stbiw__sbpush() == vector<>::push_back() -- stbiw__sbcount() == vector<>::size()\n#define stbiw__sbraw(a) ((int *) (a) - 2)\n#define stbiw__sbm(a) stbiw__sbraw(a)[0]\n#define stbiw__sbn(a) stbiw__sbraw(a)[1]\n\n#define stbiw__sbneedgrow(a,n) ((a)==0 || stbiw__sbn(a)+n >= stbiw__sbm(a))\n#define stbiw__sbmaybegrow(a,n) (stbiw__sbneedgrow(a,(n)) ? stbiw__sbgrow(a,n) : 0)\n#define stbiw__sbgrow(a,n) stbiw__sbgrowf((void **) &(a), (n), sizeof(*(a)))\n\n#define stbiw__sbpush(a, v) (stbiw__sbmaybegrow(a,1), (a)[stbiw__sbn(a)++] = (v))\n#define stbiw__sbcount(a) ((a) ? stbiw__sbn(a) : 0)\n#define stbiw__sbfree(a) ((a) ? STBIW_FREE(stbiw__sbraw(a)),0 : 0)\n\nstatic void *stbiw__sbgrowf(void **arr, int increment, int itemsize)\n{\n int m = *arr ? 2*stbiw__sbm(*arr)+increment : increment+1;\n void *p = STBIW_REALLOC_SIZED(*arr ? stbiw__sbraw(*arr) : 0, *arr ? (stbiw__sbm(*arr)*itemsize + sizeof(int)*2) : 0, itemsize * m + sizeof(int)*2);\n STBIW_ASSERT(p);\n if (p) {\n if (!*arr) ((int *) p)[1] = 0;\n *arr = (void *) ((int *) p + 2);\n stbiw__sbm(*arr) = m;\n }\n return *arr;\n}\n\nstatic unsigned char *stbiw__zlib_flushf(unsigned char *data, unsigned int *bitbuffer, int *bitcount)\n{\n while (*bitcount >= 8) {\n stbiw__sbpush(data, STBIW_UCHAR(*bitbuffer));\n *bitbuffer >>= 8;\n *bitcount -= 8;\n }\n return data;\n}\n\nstatic int stbiw__zlib_bitrev(int code, int codebits)\n{\n int res=0;\n while (codebits--) {\n res = (res << 1) | (code & 1);\n code >>= 1;\n }\n return res;\n}\n\nstatic unsigned int stbiw__zlib_countm(unsigned char *a, unsigned char *b, int limit)\n{\n int i;\n for (i=0; i < limit && i < 258; ++i)\n if (a[i] != b[i]) break;\n return i;\n}\n\nstatic unsigned int stbiw__zhash(unsigned char *data)\n{\n stbiw_uint32 hash = data[0] + (data[1] << 8) + (data[2] << 16);\n hash ^= hash << 3;\n hash += hash >> 5;\n hash ^= hash << 4;\n hash += hash >> 17;\n hash ^= hash << 25;\n hash += hash >> 6;\n return hash;\n}\n\n#define stbiw__zlib_flush() (out = stbiw__zlib_flushf(out, &bitbuf, &bitcount))\n#define stbiw__zlib_add(code,codebits) \\\n (bitbuf |= (code) << bitcount, bitcount += (codebits), stbiw__zlib_flush())\n#define stbiw__zlib_huffa(b,c) stbiw__zlib_add(stbiw__zlib_bitrev(b,c),c)\n// default huffman tables\n#define stbiw__zlib_huff1(n) stbiw__zlib_huffa(0x30 + (n), 8)\n#define stbiw__zlib_huff2(n) stbiw__zlib_huffa(0x190 + (n)-144, 9)\n#define stbiw__zlib_huff3(n) stbiw__zlib_huffa(0 + (n)-256,7)\n#define stbiw__zlib_huff4(n) stbiw__zlib_huffa(0xc0 + (n)-280,8)\n#define stbiw__zlib_huff(n) ((n) <= 143 ? stbiw__zlib_huff1(n) : (n) <= 255 ? stbiw__zlib_huff2(n) : (n) <= 279 ? stbiw__zlib_huff3(n) : stbiw__zlib_huff4(n))\n#define stbiw__zlib_huffb(n) ((n) <= 143 ? stbiw__zlib_huff1(n) : stbiw__zlib_huff2(n))\n\n#define stbiw__ZHASH 16384\n\n#endif // STBIW_ZLIB_COMPRESS\n\nSTBIWDEF unsigned char * stbi_zlib_compress(unsigned char *data, int data_len, int *out_len, int quality)\n{\n#ifdef STBIW_ZLIB_COMPRESS\n // user provided a zlib compress implementation, use that\n return STBIW_ZLIB_COMPRESS(data, data_len, out_len, quality);\n#else // use builtin\n static unsigned short lengthc[] = { 3,4,5,6,7,8,9,10,11,13,15,17,19,23,27,31,35,43,51,59,67,83,99,115,131,163,195,227,258, 259 };\n static unsigned char lengtheb[]= { 0,0,0,0,0,0,0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 0 };\n static unsigned short distc[] = { 1,2,3,4,5,7,9,13,17,25,33,49,65,97,129,193,257,385,513,769,1025,1537,2049,3073,4097,6145,8193,12289,16385,24577, 32768 };\n static unsigned char disteb[] = { 0,0,0,0,1,1,2,2,3,3,4,4,5,5,6,6,7,7,8,8,9,9,10,10,11,11,12,12,13,13 };\n unsigned int bitbuf=0;\n int i,j, bitcount=0;\n unsigned char *out = NULL;\n unsigned char ***hash_table = (unsigned char***) STBIW_MALLOC(stbiw__ZHASH * sizeof(unsigned char**));\n if (hash_table == NULL)\n return NULL;\n if (quality < 5) quality = 5;\n\n stbiw__sbpush(out, 0x78); // DEFLATE 32K window\n stbiw__sbpush(out, 0x5e); // FLEVEL = 1\n stbiw__zlib_add(1,1); // BFINAL = 1\n stbiw__zlib_add(1,2); // BTYPE = 1 -- fixed huffman\n\n for (i=0; i < stbiw__ZHASH; ++i)\n hash_table[i] = NULL;\n\n i=0;\n while (i < data_len-3) {\n // hash next 3 bytes of data to be compressed\n int h = stbiw__zhash(data+i)&(stbiw__ZHASH-1), best=3;\n unsigned char *bestloc = 0;\n unsigned char **hlist = hash_table[h];\n int n = stbiw__sbcount(hlist);\n for (j=0; j < n; ++j) {\n if (hlist[j]-data > i-32768) { // if entry lies within window\n int d = stbiw__zlib_countm(hlist[j], data+i, data_len-i);\n if (d >= best) { best=d; bestloc=hlist[j]; }\n }\n }\n // when hash table entry is too long, delete half the entries\n if (hash_table[h] && stbiw__sbn(hash_table[h]) == 2*quality) {\n STBIW_MEMMOVE(hash_table[h], hash_table[h]+quality, sizeof(hash_table[h][0])*quality);\n stbiw__sbn(hash_table[h]) = quality;\n }\n stbiw__sbpush(hash_table[h],data+i);\n\n if (bestloc) {\n // \"lazy matching\" - check match at *next* byte, and if it's better, do cur byte as literal\n h = stbiw__zhash(data+i+1)&(stbiw__ZHASH-1);\n hlist = hash_table[h];\n n = stbiw__sbcount(hlist);\n for (j=0; j < n; ++j) {\n if (hlist[j]-data > i-32767) {\n int e = stbiw__zlib_countm(hlist[j], data+i+1, data_len-i-1);\n if (e > best) { // if next match is better, bail on current match\n bestloc = NULL;\n break;\n }\n }\n }\n }\n\n if (bestloc) {\n int d = (int) (data+i - bestloc); // distance back\n STBIW_ASSERT(d <= 32767 && best <= 258);\n for (j=0; best > lengthc[j+1]-1; ++j);\n stbiw__zlib_huff(j+257);\n if (lengtheb[j]) stbiw__zlib_add(best - lengthc[j], lengtheb[j]);\n for (j=0; d > distc[j+1]-1; ++j);\n stbiw__zlib_add(stbiw__zlib_bitrev(j,5),5);\n if (disteb[j]) stbiw__zlib_add(d - distc[j], disteb[j]);\n i += best;\n } else {\n stbiw__zlib_huffb(data[i]);\n ++i;\n }\n }\n // write out final bytes\n for (;i < data_len; ++i)\n stbiw__zlib_huffb(data[i]);\n stbiw__zlib_huff(256); // end of block\n // pad with 0 bits to byte boundary\n while (bitcount)\n stbiw__zlib_add(0,1);\n\n for (i=0; i < stbiw__ZHASH; ++i)\n (void) stbiw__sbfree(hash_table[i]);\n STBIW_FREE(hash_table);\n\n {\n // compute adler32 on input\n unsigned int s1=1, s2=0;\n int blocklen = (int) (data_len % 5552);\n j=0;\n while (j < data_len) {\n for (i=0; i < blocklen; ++i) { s1 += data[j+i]; s2 += s1; }\n s1 %= 65521; s2 %= 65521;\n j += blocklen;\n blocklen = 5552;\n }\n stbiw__sbpush(out, STBIW_UCHAR(s2 >> 8));\n stbiw__sbpush(out, STBIW_UCHAR(s2));\n stbiw__sbpush(out, STBIW_UCHAR(s1 >> 8));\n stbiw__sbpush(out, STBIW_UCHAR(s1));\n }\n *out_len = stbiw__sbn(out);\n // make returned pointer freeable\n STBIW_MEMMOVE(stbiw__sbraw(out), out, *out_len);\n return (unsigned char *) stbiw__sbraw(out);\n#endif // STBIW_ZLIB_COMPRESS\n}\n\nstatic unsigned int stbiw__crc32(unsigned char *buffer, int len)\n{\n#ifdef STBIW_CRC32\n return STBIW_CRC32(buffer, len);\n#else\n static unsigned int crc_table[256] =\n {\n 0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,\n 0x0eDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,\n 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,\n 0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,\n 0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,\n 0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,\n 0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,\n 0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,\n 0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,\n 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,\n 0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,\n 0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,\n 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,\n 0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,\n 0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,\n 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,\n 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,\n 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,\n 0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,\n 0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,\n 0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,\n 0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,\n 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,\n 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,\n 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,\n 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,\n 0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,\n 0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,\n 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,\n 0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,\n 0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,\n 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D\n };\n\n unsigned int crc = ~0u;\n int i;\n for (i=0; i < len; ++i)\n crc = (crc >> 8) ^ crc_table[buffer[i] ^ (crc & 0xff)];\n return ~crc;\n#endif\n}\n\n#define stbiw__wpng4(o,a,b,c,d) ((o)[0]=STBIW_UCHAR(a),(o)[1]=STBIW_UCHAR(b),(o)[2]=STBIW_UCHAR(c),(o)[3]=STBIW_UCHAR(d),(o)+=4)\n#define stbiw__wp32(data,v) stbiw__wpng4(data, (v)>>24,(v)>>16,(v)>>8,(v));\n#define stbiw__wptag(data,s) stbiw__wpng4(data, s[0],s[1],s[2],s[3])\n\nstatic void stbiw__wpcrc(unsigned char **data, int len)\n{\n unsigned int crc = stbiw__crc32(*data - len - 4, len+4);\n stbiw__wp32(*data, crc);\n}\n\nstatic unsigned char stbiw__paeth(int a, int b, int c)\n{\n int p = a + b - c, pa = abs(p-a), pb = abs(p-b), pc = abs(p-c);\n if (pa <= pb && pa <= pc) return STBIW_UCHAR(a);\n if (pb <= pc) return STBIW_UCHAR(b);\n return STBIW_UCHAR(c);\n}\n\n// @OPTIMIZE: provide an option that always forces left-predict or paeth predict\nstatic void stbiw__encode_png_line(unsigned char *pixels, int stride_bytes, int width, int height, int y, int n, int filter_type, signed char *line_buffer)\n{\n static int mapping[] = { 0,1,2,3,4 };\n static int firstmap[] = { 0,1,0,5,6 };\n int *mymap = (y != 0) ? mapping : firstmap;\n int i;\n int type = mymap[filter_type];\n unsigned char *z = pixels + stride_bytes * (stbi__flip_vertically_on_write ? height-1-y : y);\n int signed_stride = stbi__flip_vertically_on_write ? -stride_bytes : stride_bytes;\n\n if (type==0) {\n memcpy(line_buffer, z, width*n);\n return;\n }\n\n // first loop isn't optimized since it's just one pixel \n for (i = 0; i < n; ++i) {\n switch (type) {\n case 1: line_buffer[i] = z[i]; break;\n case 2: line_buffer[i] = z[i] - z[i-signed_stride]; break;\n case 3: line_buffer[i] = z[i] - (z[i-signed_stride]>>1); break;\n case 4: line_buffer[i] = (signed char) (z[i] - stbiw__paeth(0,z[i-signed_stride],0)); break;\n case 5: line_buffer[i] = z[i]; break;\n case 6: line_buffer[i] = z[i]; break;\n }\n }\n switch (type) {\n case 1: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - z[i-n]; break;\n case 2: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - z[i-signed_stride]; break;\n case 3: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - ((z[i-n] + z[i-signed_stride])>>1); break;\n case 4: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], z[i-signed_stride], z[i-signed_stride-n]); break;\n case 5: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - (z[i-n]>>1); break;\n case 6: for (i=n; i < width*n; ++i) line_buffer[i] = z[i] - stbiw__paeth(z[i-n], 0,0); break;\n }\n}\n\nSTBIWDEF unsigned char *stbi_write_png_to_mem(const unsigned char *pixels, int stride_bytes, int x, int y, int n, int *out_len)\n{\n int force_filter = stbi_write_force_png_filter;\n int ctype[5] = { -1, 0, 4, 2, 6 };\n unsigned char sig[8] = { 137,80,78,71,13,10,26,10 };\n unsigned char *out,*o, *filt, *zlib;\n signed char *line_buffer;\n int j,zlen;\n\n if (stride_bytes == 0)\n stride_bytes = x * n;\n\n if (force_filter >= 5) {\n force_filter = -1;\n }\n\n filt = (unsigned char *) STBIW_MALLOC((x*n+1) * y); if (!filt) return 0;\n line_buffer = (signed char *) STBIW_MALLOC(x * n); if (!line_buffer) { STBIW_FREE(filt); return 0; }\n for (j=0; j < y; ++j) {\n int filter_type;\n if (force_filter > -1) {\n filter_type = force_filter;\n stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, force_filter, line_buffer);\n } else { // Estimate the best filter by running through all of them:\n int best_filter = 0, best_filter_val = 0x7fffffff, est, i;\n for (filter_type = 0; filter_type < 5; filter_type++) {\n stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, filter_type, line_buffer);\n\n // Estimate the entropy of the line using this filter; the less, the better.\n est = 0;\n for (i = 0; i < x*n; ++i) {\n est += abs((signed char) line_buffer[i]);\n }\n if (est < best_filter_val) {\n best_filter_val = est;\n best_filter = filter_type;\n }\n }\n if (filter_type != best_filter) { // If the last iteration already got us the best filter, don't redo it\n stbiw__encode_png_line((unsigned char*)(pixels), stride_bytes, x, y, j, n, best_filter, line_buffer);\n filter_type = best_filter;\n }\n }\n // when we get here, filter_type contains the filter type, and line_buffer contains the data\n filt[j*(x*n+1)] = (unsigned char) filter_type;\n STBIW_MEMMOVE(filt+j*(x*n+1)+1, line_buffer, x*n);\n }\n STBIW_FREE(line_buffer);\n zlib = stbi_zlib_compress(filt, y*( x*n+1), &zlen, stbi_write_png_compression_level);\n STBIW_FREE(filt);\n if (!zlib) return 0;\n\n // each tag requires 12 bytes of overhead\n out = (unsigned char *) STBIW_MALLOC(8 + 12+13 + 12+zlen + 12);\n if (!out) return 0;\n *out_len = 8 + 12+13 + 12+zlen + 12;\n\n o=out;\n STBIW_MEMMOVE(o,sig,8); o+= 8;\n stbiw__wp32(o, 13); // header length\n stbiw__wptag(o, \"IHDR\");\n stbiw__wp32(o, x);\n stbiw__wp32(o, y);\n *o++ = 8;\n *o++ = STBIW_UCHAR(ctype[n]);\n *o++ = 0;\n *o++ = 0;\n *o++ = 0;\n stbiw__wpcrc(&o,13);\n\n stbiw__wp32(o, zlen);\n stbiw__wptag(o, \"IDAT\");\n STBIW_MEMMOVE(o, zlib, zlen);\n o += zlen;\n STBIW_FREE(zlib);\n stbiw__wpcrc(&o, zlen);\n\n stbiw__wp32(o,0);\n stbiw__wptag(o, \"IEND\");\n stbiw__wpcrc(&o,0);\n\n STBIW_ASSERT(o == out + *out_len);\n\n return out;\n}\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_png(char const *filename, int x, int y, int comp, const void *data, int stride_bytes)\n{\n FILE *f;\n int len;\n unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &len);\n if (png == NULL) return 0;\n\n f = stbiw__fopen(filename, \"wb\");\n if (!f) { STBIW_FREE(png); return 0; }\n fwrite(png, 1, len, f);\n fclose(f);\n STBIW_FREE(png);\n return 1;\n}\n#endif\n\nSTBIWDEF int stbi_write_png_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int stride_bytes)\n{\n int len;\n unsigned char *png = stbi_write_png_to_mem((const unsigned char *) data, stride_bytes, x, y, comp, &len);\n if (png == NULL) return 0;\n func(context, png, len);\n STBIW_FREE(png);\n return 1;\n}\n\n\n/* ***************************************************************************\n *\n * JPEG writer\n *\n * This is based on Jon Olick's jo_jpeg.cpp:\n * public domain Simple, Minimalistic JPEG writer - http://www.jonolick.com/code.html\n */\n\nstatic const unsigned char stbiw__jpg_ZigZag[] = { 0,1,5,6,14,15,27,28,2,4,7,13,16,26,29,42,3,8,12,17,25,30,41,43,9,11,18,\n 24,31,40,44,53,10,19,23,32,39,45,52,54,20,22,33,38,46,51,55,60,21,34,37,47,50,56,59,61,35,36,48,49,57,58,62,63 };\n\nstatic void stbiw__jpg_writeBits(stbi__write_context *s, int *bitBufP, int *bitCntP, const unsigned short *bs) {\n int bitBuf = *bitBufP, bitCnt = *bitCntP;\n bitCnt += bs[1];\n bitBuf |= bs[0] << (24 - bitCnt);\n while(bitCnt >= 8) {\n unsigned char c = (bitBuf >> 16) & 255;\n stbiw__putc(s, c);\n if(c == 255) {\n stbiw__putc(s, 0);\n }\n bitBuf <<= 8;\n bitCnt -= 8;\n }\n *bitBufP = bitBuf;\n *bitCntP = bitCnt;\n}\n\nstatic void stbiw__jpg_DCT(float *d0p, float *d1p, float *d2p, float *d3p, float *d4p, float *d5p, float *d6p, float *d7p) {\n float d0 = *d0p, d1 = *d1p, d2 = *d2p, d3 = *d3p, d4 = *d4p, d5 = *d5p, d6 = *d6p, d7 = *d7p;\n float z1, z2, z3, z4, z5, z11, z13;\n\n float tmp0 = d0 + d7;\n float tmp7 = d0 - d7;\n float tmp1 = d1 + d6;\n float tmp6 = d1 - d6;\n float tmp2 = d2 + d5;\n float tmp5 = d2 - d5;\n float tmp3 = d3 + d4;\n float tmp4 = d3 - d4;\n\n // Even part\n float tmp10 = tmp0 + tmp3; // phase 2\n float tmp13 = tmp0 - tmp3;\n float tmp11 = tmp1 + tmp2;\n float tmp12 = tmp1 - tmp2;\n\n d0 = tmp10 + tmp11; // phase 3\n d4 = tmp10 - tmp11;\n\n z1 = (tmp12 + tmp13) * 0.707106781f; // c4\n d2 = tmp13 + z1; // phase 5\n d6 = tmp13 - z1;\n\n // Odd part\n tmp10 = tmp4 + tmp5; // phase 2\n tmp11 = tmp5 + tmp6;\n tmp12 = tmp6 + tmp7;\n\n // The rotator is modified from fig 4-8 to avoid extra negations.\n z5 = (tmp10 - tmp12) * 0.382683433f; // c6\n z2 = tmp10 * 0.541196100f + z5; // c2-c6\n z4 = tmp12 * 1.306562965f + z5; // c2+c6\n z3 = tmp11 * 0.707106781f; // c4\n\n z11 = tmp7 + z3; // phase 5\n z13 = tmp7 - z3;\n\n *d5p = z13 + z2; // phase 6\n *d3p = z13 - z2;\n *d1p = z11 + z4;\n *d7p = z11 - z4;\n\n *d0p = d0; *d2p = d2; *d4p = d4; *d6p = d6;\n}\n\nstatic void stbiw__jpg_calcBits(int val, unsigned short bits[2]) {\n int tmp1 = val < 0 ? -val : val;\n val = val < 0 ? val-1 : val;\n bits[1] = 1;\n while(tmp1 >>= 1) {\n ++bits[1];\n }\n bits[0] = val & ((1<<bits[1])-1);\n}\n\nstatic int stbiw__jpg_processDU(stbi__write_context *s, int *bitBuf, int *bitCnt, float *CDU, float *fdtbl, int DC, const unsigned short HTDC[256][2], const unsigned short HTAC[256][2]) {\n const unsigned short EOB[2] = { HTAC[0x00][0], HTAC[0x00][1] };\n const unsigned short M16zeroes[2] = { HTAC[0xF0][0], HTAC[0xF0][1] };\n int dataOff, i, diff, end0pos;\n int DU[64];\n\n // DCT rows\n for(dataOff=0; dataOff<64; dataOff+=8) {\n stbiw__jpg_DCT(&CDU[dataOff], &CDU[dataOff+1], &CDU[dataOff+2], &CDU[dataOff+3], &CDU[dataOff+4], &CDU[dataOff+5], &CDU[dataOff+6], &CDU[dataOff+7]);\n }\n // DCT columns\n for(dataOff=0; dataOff<8; ++dataOff) {\n stbiw__jpg_DCT(&CDU[dataOff], &CDU[dataOff+8], &CDU[dataOff+16], &CDU[dataOff+24], &CDU[dataOff+32], &CDU[dataOff+40], &CDU[dataOff+48], &CDU[dataOff+56]);\n }\n // Quantize/descale/zigzag the coefficients\n for(i=0; i<64; ++i) {\n float v = CDU[i]*fdtbl[i];\n // DU[stbiw__jpg_ZigZag[i]] = (int)(v < 0 ? ceilf(v - 0.5f) : floorf(v + 0.5f));\n // ceilf() and floorf() are C99, not C89, but I /think/ they're not needed here anyway?\n DU[stbiw__jpg_ZigZag[i]] = (int)(v < 0 ? v - 0.5f : v + 0.5f);\n }\n\n // Encode DC\n diff = DU[0] - DC;\n if (diff == 0) {\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[0]);\n } else {\n unsigned short bits[2];\n stbiw__jpg_calcBits(diff, bits);\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTDC[bits[1]]);\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);\n }\n // Encode ACs\n end0pos = 63;\n for(; (end0pos>0)&&(DU[end0pos]==0); --end0pos) {\n }\n // end0pos = first element in reverse order !=0\n if(end0pos == 0) {\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);\n return DU[0];\n }\n for(i = 1; i <= end0pos; ++i) {\n int startpos = i;\n int nrzeroes;\n unsigned short bits[2];\n for (; DU[i]==0 && i<=end0pos; ++i) {\n }\n nrzeroes = i-startpos;\n if ( nrzeroes >= 16 ) {\n int lng = nrzeroes>>4;\n int nrmarker;\n for (nrmarker=1; nrmarker <= lng; ++nrmarker)\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, M16zeroes);\n nrzeroes &= 15;\n }\n stbiw__jpg_calcBits(DU[i], bits);\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, HTAC[(nrzeroes<<4)+bits[1]]);\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, bits);\n }\n if(end0pos != 63) {\n stbiw__jpg_writeBits(s, bitBuf, bitCnt, EOB);\n }\n return DU[0];\n}\n\nstatic int stbi_write_jpg_core(stbi__write_context *s, int width, int height, int comp, const void* data, int quality) {\n // Constants that don't pollute global namespace\n static const unsigned char std_dc_luminance_nrcodes[] = {0,0,1,5,1,1,1,1,1,1,0,0,0,0,0,0,0};\n static const unsigned char std_dc_luminance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};\n static const unsigned char std_ac_luminance_nrcodes[] = {0,0,2,1,3,3,2,4,3,5,5,4,4,0,0,1,0x7d};\n static const unsigned char std_ac_luminance_values[] = {\n 0x01,0x02,0x03,0x00,0x04,0x11,0x05,0x12,0x21,0x31,0x41,0x06,0x13,0x51,0x61,0x07,0x22,0x71,0x14,0x32,0x81,0x91,0xa1,0x08,\n 0x23,0x42,0xb1,0xc1,0x15,0x52,0xd1,0xf0,0x24,0x33,0x62,0x72,0x82,0x09,0x0a,0x16,0x17,0x18,0x19,0x1a,0x25,0x26,0x27,0x28,\n 0x29,0x2a,0x34,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,0x59,\n 0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x83,0x84,0x85,0x86,0x87,0x88,0x89,\n 0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,0xb5,0xb6,\n 0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,0xe1,0xe2,\n 0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf1,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa\n };\n static const unsigned char std_dc_chrominance_nrcodes[] = {0,0,3,1,1,1,1,1,1,1,1,1,0,0,0,0,0};\n static const unsigned char std_dc_chrominance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};\n static const unsigned char std_ac_chrominance_nrcodes[] = {0,0,2,1,2,4,4,3,4,7,5,4,4,0,1,2,0x77};\n static const unsigned char std_ac_chrominance_values[] = {\n 0x00,0x01,0x02,0x03,0x11,0x04,0x05,0x21,0x31,0x06,0x12,0x41,0x51,0x07,0x61,0x71,0x13,0x22,0x32,0x81,0x08,0x14,0x42,0x91,\n 0xa1,0xb1,0xc1,0x09,0x23,0x33,0x52,0xf0,0x15,0x62,0x72,0xd1,0x0a,0x16,0x24,0x34,0xe1,0x25,0xf1,0x17,0x18,0x19,0x1a,0x26,\n 0x27,0x28,0x29,0x2a,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,\n 0x59,0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x82,0x83,0x84,0x85,0x86,0x87,\n 0x88,0x89,0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,\n 0xb5,0xb6,0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,\n 0xe2,0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa\n };\n // Huffman tables\n static const unsigned short YDC_HT[256][2] = { {0,2},{2,3},{3,3},{4,3},{5,3},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9}};\n static const unsigned short UVDC_HT[256][2] = { {0,2},{1,2},{2,2},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9},{1022,10},{2046,11}};\n static const unsigned short YAC_HT[256][2] = {\n {10,4},{0,2},{1,2},{4,3},{11,4},{26,5},{120,7},{248,8},{1014,10},{65410,16},{65411,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {12,4},{27,5},{121,7},{502,9},{2038,11},{65412,16},{65413,16},{65414,16},{65415,16},{65416,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {28,5},{249,8},{1015,10},{4084,12},{65417,16},{65418,16},{65419,16},{65420,16},{65421,16},{65422,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {58,6},{503,9},{4085,12},{65423,16},{65424,16},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {59,6},{1016,10},{65430,16},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {122,7},{2039,11},{65438,16},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {123,7},{4086,12},{65446,16},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {250,8},{4087,12},{65454,16},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {504,9},{32704,15},{65462,16},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {505,9},{65470,16},{65471,16},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {506,9},{65479,16},{65480,16},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {1017,10},{65488,16},{65489,16},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {1018,10},{65497,16},{65498,16},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {2040,11},{65506,16},{65507,16},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {65515,16},{65516,16},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{0,0},{0,0},{0,0},{0,0},{0,0},\n {2041,11},{65525,16},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}\n };\n static const unsigned short UVAC_HT[256][2] = {\n {0,2},{1,2},{4,3},{10,4},{24,5},{25,5},{56,6},{120,7},{500,9},{1014,10},{4084,12},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {11,4},{57,6},{246,8},{501,9},{2038,11},{4085,12},{65416,16},{65417,16},{65418,16},{65419,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {26,5},{247,8},{1015,10},{4086,12},{32706,15},{65420,16},{65421,16},{65422,16},{65423,16},{65424,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {27,5},{248,8},{1016,10},{4087,12},{65425,16},{65426,16},{65427,16},{65428,16},{65429,16},{65430,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {58,6},{502,9},{65431,16},{65432,16},{65433,16},{65434,16},{65435,16},{65436,16},{65437,16},{65438,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {59,6},{1017,10},{65439,16},{65440,16},{65441,16},{65442,16},{65443,16},{65444,16},{65445,16},{65446,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {121,7},{2039,11},{65447,16},{65448,16},{65449,16},{65450,16},{65451,16},{65452,16},{65453,16},{65454,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {122,7},{2040,11},{65455,16},{65456,16},{65457,16},{65458,16},{65459,16},{65460,16},{65461,16},{65462,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {249,8},{65463,16},{65464,16},{65465,16},{65466,16},{65467,16},{65468,16},{65469,16},{65470,16},{65471,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {503,9},{65472,16},{65473,16},{65474,16},{65475,16},{65476,16},{65477,16},{65478,16},{65479,16},{65480,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {504,9},{65481,16},{65482,16},{65483,16},{65484,16},{65485,16},{65486,16},{65487,16},{65488,16},{65489,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {505,9},{65490,16},{65491,16},{65492,16},{65493,16},{65494,16},{65495,16},{65496,16},{65497,16},{65498,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {506,9},{65499,16},{65500,16},{65501,16},{65502,16},{65503,16},{65504,16},{65505,16},{65506,16},{65507,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {2041,11},{65508,16},{65509,16},{65510,16},{65511,16},{65512,16},{65513,16},{65514,16},{65515,16},{65516,16},{0,0},{0,0},{0,0},{0,0},{0,0},{0,0},\n {16352,14},{65517,16},{65518,16},{65519,16},{65520,16},{65521,16},{65522,16},{65523,16},{65524,16},{65525,16},{0,0},{0,0},{0,0},{0,0},{0,0},\n {1018,10},{32707,15},{65526,16},{65527,16},{65528,16},{65529,16},{65530,16},{65531,16},{65532,16},{65533,16},{65534,16},{0,0},{0,0},{0,0},{0,0},{0,0}\n };\n static const int YQT[] = {16,11,10,16,24,40,51,61,12,12,14,19,26,58,60,55,14,13,16,24,40,57,69,56,14,17,22,29,51,87,80,62,18,22,\n 37,56,68,109,103,77,24,35,55,64,81,104,113,92,49,64,78,87,103,121,120,101,72,92,95,98,112,100,103,99};\n static const int UVQT[] = {17,18,24,47,99,99,99,99,18,21,26,66,99,99,99,99,24,26,56,99,99,99,99,99,47,66,99,99,99,99,99,99,\n 99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99,99};\n static const float aasf[] = { 1.0f * 2.828427125f, 1.387039845f * 2.828427125f, 1.306562965f * 2.828427125f, 1.175875602f * 2.828427125f, \n 1.0f * 2.828427125f, 0.785694958f * 2.828427125f, 0.541196100f * 2.828427125f, 0.275899379f * 2.828427125f };\n\n int row, col, i, k;\n float fdtbl_Y[64], fdtbl_UV[64];\n unsigned char YTable[64], UVTable[64];\n\n if(!data || !width || !height || comp > 4 || comp < 1) {\n return 0;\n }\n\n quality = quality ? quality : 90;\n quality = quality < 1 ? 1 : quality > 100 ? 100 : quality;\n quality = quality < 50 ? 5000 / quality : 200 - quality * 2;\n\n for(i = 0; i < 64; ++i) {\n int uvti, yti = (YQT[i]*quality+50)/100;\n YTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (yti < 1 ? 1 : yti > 255 ? 255 : yti);\n uvti = (UVQT[i]*quality+50)/100;\n UVTable[stbiw__jpg_ZigZag[i]] = (unsigned char) (uvti < 1 ? 1 : uvti > 255 ? 255 : uvti);\n }\n\n for(row = 0, k = 0; row < 8; ++row) {\n for(col = 0; col < 8; ++col, ++k) {\n fdtbl_Y[k] = 1 / (YTable [stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);\n fdtbl_UV[k] = 1 / (UVTable[stbiw__jpg_ZigZag[k]] * aasf[row] * aasf[col]);\n }\n }\n\n // Write Headers\n {\n static const unsigned char head0[] = { 0xFF,0xD8,0xFF,0xE0,0,0x10,'J','F','I','F',0,1,1,0,0,1,0,1,0,0,0xFF,0xDB,0,0x84,0 };\n static const unsigned char head2[] = { 0xFF,0xDA,0,0xC,3,1,0,2,0x11,3,0x11,0,0x3F,0 };\n const unsigned char head1[] = { 0xFF,0xC0,0,0x11,8,(unsigned char)(height>>8),STBIW_UCHAR(height),(unsigned char)(width>>8),STBIW_UCHAR(width),\n 3,1,0x11,0,2,0x11,1,3,0x11,1,0xFF,0xC4,0x01,0xA2,0 };\n s->func(s->context, (void*)head0, sizeof(head0));\n s->func(s->context, (void*)YTable, sizeof(YTable));\n stbiw__putc(s, 1);\n s->func(s->context, UVTable, sizeof(UVTable));\n s->func(s->context, (void*)head1, sizeof(head1));\n s->func(s->context, (void*)(std_dc_luminance_nrcodes+1), sizeof(std_dc_luminance_nrcodes)-1);\n s->func(s->context, (void*)std_dc_luminance_values, sizeof(std_dc_luminance_values));\n stbiw__putc(s, 0x10); // HTYACinfo\n s->func(s->context, (void*)(std_ac_luminance_nrcodes+1), sizeof(std_ac_luminance_nrcodes)-1);\n s->func(s->context, (void*)std_ac_luminance_values, sizeof(std_ac_luminance_values));\n stbiw__putc(s, 1); // HTUDCinfo\n s->func(s->context, (void*)(std_dc_chrominance_nrcodes+1), sizeof(std_dc_chrominance_nrcodes)-1);\n s->func(s->context, (void*)std_dc_chrominance_values, sizeof(std_dc_chrominance_values));\n stbiw__putc(s, 0x11); // HTUACinfo\n s->func(s->context, (void*)(std_ac_chrominance_nrcodes+1), sizeof(std_ac_chrominance_nrcodes)-1);\n s->func(s->context, (void*)std_ac_chrominance_values, sizeof(std_ac_chrominance_values));\n s->func(s->context, (void*)head2, sizeof(head2));\n }\n\n // Encode 8x8 macroblocks\n {\n static const unsigned short fillBits[] = {0x7F, 7};\n const unsigned char *imageData = (const unsigned char *)data;\n int DCY=0, DCU=0, DCV=0;\n int bitBuf=0, bitCnt=0;\n // comp == 2 is grey+alpha (alpha is ignored)\n int ofsG = comp > 2 ? 1 : 0, ofsB = comp > 2 ? 2 : 0;\n int x, y, pos;\n for(y = 0; y < height; y += 8) {\n for(x = 0; x < width; x += 8) {\n float YDU[64], UDU[64], VDU[64];\n for(row = y, pos = 0; row < y+8; ++row) {\n // row >= height => use last input row\n int clamped_row = (row < height) ? row : height - 1;\n int base_p = (stbi__flip_vertically_on_write ? (height-1-clamped_row) : clamped_row)*width*comp;\n for(col = x; col < x+8; ++col, ++pos) {\n float r, g, b;\n // if col >= width => use pixel from last input column\n int p = base_p + ((col < width) ? col : (width-1))*comp;\n\n r = imageData[p+0];\n g = imageData[p+ofsG];\n b = imageData[p+ofsB];\n YDU[pos]=+0.29900f*r+0.58700f*g+0.11400f*b-128;\n UDU[pos]=-0.16874f*r-0.33126f*g+0.50000f*b;\n VDU[pos]=+0.50000f*r-0.41869f*g-0.08131f*b;\n }\n }\n\n DCY = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, YDU, fdtbl_Y, DCY, YDC_HT, YAC_HT);\n DCU = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, UDU, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);\n DCV = stbiw__jpg_processDU(s, &bitBuf, &bitCnt, VDU, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);\n }\n }\n\n // Do the bit alignment of the EOI marker\n stbiw__jpg_writeBits(s, &bitBuf, &bitCnt, fillBits);\n }\n\n // EOI\n stbiw__putc(s, 0xFF);\n stbiw__putc(s, 0xD9);\n\n return 1;\n}\n\nSTBIWDEF int stbi_write_jpg_to_func(stbi_write_func *func, void *context, int x, int y, int comp, const void *data, int quality)\n{\n stbi__write_context s;\n stbi__start_write_callbacks(&s, func, context);\n return stbi_write_jpg_core(&s, x, y, comp, (void *) data, quality);\n}\n\n\n#ifndef STBI_WRITE_NO_STDIO\nSTBIWDEF int stbi_write_jpg(char const *filename, int x, int y, int comp, const void *data, int quality)\n{\n stbi__write_context s;\n if (stbi__start_write_file(&s,filename)) {\n int r = stbi_write_jpg_core(&s, x, y, comp, data, quality);\n stbi__end_write_file(&s);\n return r;\n } else\n return 0;\n}\n#endif\n\n#endif // STB_IMAGE_WRITE_IMPLEMENTATION\n\n/* Revision history\n 1.11 (2019-08-11)\n\n 1.10 (2019-02-07)\n support utf8 filenames in Windows; fix warnings and platform ifdefs \n 1.09 (2018-02-11)\n fix typo in zlib quality API, improve STB_I_W_STATIC in C++\n 1.08 (2018-01-29)\n add stbi__flip_vertically_on_write, external zlib, zlib quality, choose PNG filter\n 1.07 (2017-07-24)\n doc fix\n 1.06 (2017-07-23)\n writing JPEG (using Jon Olick's code)\n 1.05 ???\n 1.04 (2017-03-03)\n monochrome BMP expansion\n 1.03 ???\n 1.02 (2016-04-02)\n avoid allocating large structures on the stack\n 1.01 (2016-01-16)\n STBIW_REALLOC_SIZED: support allocators with no realloc support\n avoid race-condition in crc initialization\n minor compile issues\n 1.00 (2015-09-14)\n installable file IO function\n 0.99 (2015-09-13)\n warning fixes; TGA rle support\n 0.98 (2015-04-08)\n added STBIW_MALLOC, STBIW_ASSERT etc\n 0.97 (2015-01-18)\n fixed HDR asserts, rewrote HDR rle logic\n 0.96 (2015-01-17)\n add HDR output\n fix monochrome BMP\n 0.95 (2014-08-17)\n add monochrome TGA output\n 0.94 (2014-05-31)\n rename private functions to avoid conflicts with stb_image.h\n 0.93 (2014-05-27)\n warning fixes\n 0.92 (2010-08-01)\n casts to unsigned char to fix warnings\n 0.91 (2010-07-17)\n first public release\n 0.90 first internal release\n*/\n\n/*\n------------------------------------------------------------------------------\nThis software is available under 2 licenses -- choose whichever you prefer.\n------------------------------------------------------------------------------\nALTERNATIVE A - MIT License\nCopyright (c) 2017 Sean Barrett\nPermission is hereby granted, free of charge, to any person obtaining a copy of \nthis software and associated documentation files (the \"Software\"), to deal in \nthe Software without restriction, including without limitation the rights to \nuse, copy, modify, merge, publish, distribute, sublicense, and/or sell copies \nof the Software, and to permit persons to whom the Software is furnished to do \nso, subject to the following conditions:\nThe above copyright notice and this permission notice shall be included in all \ncopies or substantial portions of the Software.\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR \nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, \nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE \nAUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER \nLIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, \nOUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE \nSOFTWARE.\n------------------------------------------------------------------------------\nALTERNATIVE B - Public Domain (www.unlicense.org)\nThis is free and unencumbered software released into the public domain.\nAnyone is free to copy, modify, publish, use, compile, sell, or distribute this \nsoftware, either in source code form or as a compiled binary, for any purpose, \ncommercial or non-commercial, and by any means.\nIn jurisdictions that recognize copyright laws, the author or authors of this \nsoftware dedicate any and all copyright interest in the software to the public \ndomain. We make this dedication for the benefit of the public at large and to \nthe detriment of our heirs and successors. We intend this dedication to be an \novert act of relinquishment in perpetuity of all present and future rights to \nthis software under copyright law.\nTHE SOFTWARE IS PROVIDED \"AS IS\", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR \nIMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, \nFITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE \nAUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN \nACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION \nWITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.\n------------------------------------------------------------------------------\n*/\nFileList > robot_dart > robots
"},{"location":"api/dir_087fbdcd93b501a5d3f98df93e9f8cc4/#files","title":"Files","text":"Type Name file a1.cpp file a1.hpp file arm.hpp file franka.cpp file franka.hpp file hexapod.hpp file icub.cpp file icub.hpp file iiwa.cpp file iiwa.hpp file pendulum.hpp file talos.cpp file talos.hpp file tiago.cpp file tiago.hpp file ur3e.cpp file ur3e.hpp file vx300.hppThe documentation for this class was generated from the following file robot_dart/robots/
FileList > robot_dart > robots > a1.cpp
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#include \"robot_dart/robots/a1.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/a1.cpp
File List > robot_dart > robots > a1.cpp
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#include \"robot_dart/robots/a1.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n A1::A1(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _imu(std::make_shared<sensor::IMU>(sensor::IMUConfig(body_node(\"imu_link\"), frequency)))\n {\n set_color_mode(\"material\");\n set_self_collision(true);\n set_position_enforced(true);\n\n // put above ground\n set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));\n\n // standing pose\n auto names = dof_names(true, true, true);\n names = std::vector<std::string>(names.begin() + 6, names.end());\n set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);\n }\n\n void A1::reset()\n {\n Robot::reset();\n\n // put above ground\n set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.5}));\n\n // standing pose\n auto names = dof_names(true, true, true);\n names = std::vector<std::string>(names.begin() + 6, names.end());\n set_positions(robot_dart::make_vector({0.0, 0.67, -1.3, -0.0, 0.67, -1.3, 0.0, 0.67, -1.3, -0.0, 0.67, -1.3}), names);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > a1.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/imu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/a1.hpp
File List > robot_dart > robots > a1.hpp
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#ifndef ROBOT_DART_ROBOTS_A1_HPP\n#define ROBOT_DART_ROBOTS_A1_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class A1 : public Robot {\n public:\n A1(size_t frequency = 1000, const std::string& urdf = \"unitree_a1/a1.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('a1_description', 'unitree_a1/a1_description'));\n\n void reset() override;\n\n const sensor::IMU& imu() const { return *_imu; }\n\n protected:\n std::shared_ptr<sensor::IMU> _imu;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > arm.hpp
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#include \"robot_dart/robot.hpp\"The documentation for this class was generated from the following file robot_dart/robots/arm.hpp
File List > robot_dart > robots > arm.hpp
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#ifndef ROBOT_DART_ROBOTS_ARM_HPP\n#define ROBOT_DART_ROBOTS_ARM_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Arm : public Robot {\n public:\n Arm(const std::string& urdf = \"arm.urdf\") : Robot(urdf)\n {\n fix_to_world();\n set_position_enforced(true);\n }\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > franka.cpp
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#include \"robot_dart/robots/franka.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/franka.cpp
File List > robot_dart > robots > franka.cpp
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#include \"robot_dart/robots/franka.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Franka::Franka(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _ft_wrist(std::make_shared<sensor::ForceTorque>(joint(\"panda_link7\"), frequency))\n {\n fix_to_world();\n set_position_enforced(true);\n set_color_mode(\"material\");\n }\n\n void Franka::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_ft_wrist);\n }\n\n void Franka::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_ft_wrist);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > franka.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/franka.hpp
File List > robot_dart > robots > franka.hpp
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#ifndef ROBOT_DART_ROBOTS_FRANKA_HPP\n#define ROBOT_DART_ROBOTS_FRANKA_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Franka : public Robot {\n public:\n Franka(size_t frequency = 1000, const std::string& urdf = \"franka/franka.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('franka_description', 'franka/franka_description'));\n\n const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }\n\n protected:\n std::shared_ptr<sensor::ForceTorque> _ft_wrist;\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > hexapod.hpp
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#include \"robot_dart/robot.hpp\"The documentation for this class was generated from the following file robot_dart/robots/hexapod.hpp
File List > robot_dart > robots > hexapod.hpp
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#ifndef ROBOT_DART_ROBOTS_HEXAPOD_HPP\n#define ROBOT_DART_ROBOTS_HEXAPOD_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Hexapod : public Robot {\n public:\n Hexapod(const std::string& urdf = \"pexod.urdf\") : Robot(urdf)\n {\n set_position_enforced(true);\n skeleton()->enableSelfCollisionCheck();\n set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));\n }\n\n void reset() override\n {\n Robot::reset();\n set_base_pose(robot_dart::make_vector({0., 0., 0., 0., 0., 0.2}));\n }\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > icub.cpp
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#include \"robot_dart/robots/icub.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/icub.cpp
File List > robot_dart > robots > icub.cpp
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#include \"robot_dart/robots/icub.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n ICub::ICub(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _imu(std::make_shared<sensor::IMU>(sensor::IMUConfig(body_node(\"head\"), frequency))),\n _ft_foot_left(std::make_shared<sensor::ForceTorque>(joint(\"l_ankle_roll\"), frequency)),\n _ft_foot_right(std::make_shared<sensor::ForceTorque>(joint(\"r_ankle_roll\"), frequency))\n {\n set_color_mode(\"material\");\n\n set_position_enforced(true);\n\n // position iCub\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.46}));\n }\n\n void ICub::reset()\n {\n Robot::reset();\n\n // position iCub\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.46}));\n }\n\n void ICub::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_imu);\n simu->add_sensor(_ft_foot_left);\n simu->add_sensor(_ft_foot_right);\n }\n\n void ICub::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_imu);\n simu->remove_sensor(_ft_foot_left);\n simu->remove_sensor(_ft_foot_right);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > icub.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"#include \"robot_dart/sensor/imu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/icub.hpp
File List > robot_dart > robots > icub.hpp
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#ifndef ROBOT_DART_ROBOTS_ICUB_HPP\n#define ROBOT_DART_ROBOTS_ICUB_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class ICub : public Robot {\n public:\n ICub(size_t frequency = 1000, const std::string& urdf = \"icub/icub.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('icub_description', 'icub/icub_description'));\n\n void reset() override;\n\n const sensor::IMU& imu() const { return *_imu; }\n const sensor::ForceTorque& ft_foot_left() const { return *_ft_foot_left; }\n const sensor::ForceTorque& ft_foot_right() const { return *_ft_foot_right; }\n\n protected:\n std::shared_ptr<sensor::IMU> _imu;\n std::shared_ptr<sensor::ForceTorque> _ft_foot_left;\n std::shared_ptr<sensor::ForceTorque> _ft_foot_right;\n\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > iiwa.cpp
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#include \"robot_dart/robots/iiwa.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/iiwa.cpp
File List > robot_dart > robots > iiwa.cpp
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#include \"robot_dart/robots/iiwa.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Iiwa::Iiwa(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _ft_wrist(std::make_shared<sensor::ForceTorque>(joint(\"iiwa_joint_ee\"), frequency))\n {\n fix_to_world();\n set_position_enforced(true);\n }\n\n void Iiwa::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_ft_wrist);\n }\n\n void Iiwa::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_ft_wrist);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > iiwa.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/iiwa.hpp
File List > robot_dart > robots > iiwa.hpp
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#ifndef ROBOT_DART_ROBOTS_IIWA_HPP\n#define ROBOT_DART_ROBOTS_IIWA_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Iiwa : public Robot {\n public:\n Iiwa(size_t frequency = 1000, const std::string& urdf = \"iiwa/iiwa.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('iiwa_description', 'iiwa/iiwa_description'));\n\n const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }\n\n protected:\n std::shared_ptr<sensor::ForceTorque> _ft_wrist;\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > pendulum.hpp
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#include \"robot_dart/robot.hpp\"The documentation for this class was generated from the following file robot_dart/robots/pendulum.hpp
File List > robot_dart > robots > pendulum.hpp
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#ifndef ROBOT_DART_ROBOTS_PENDULUM_HPP\n#define ROBOT_DART_ROBOTS_PENDULUM_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Pendulum : public Robot {\n public:\n Pendulum(const std::string& urdf = \"pendulum.urdf\") : Robot(urdf)\n {\n fix_to_world();\n set_position_enforced(true);\n set_positions(robot_dart::make_vector({M_PI}));\n }\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > talos.cpp
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#include \"robot_dart/robots/talos.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/talos.cpp
File List > robot_dart > robots > talos.cpp
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#include \"robot_dart/robots/talos.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Talos::Talos(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _imu(std::make_shared<sensor::IMU>(sensor::IMUConfig(body_node(\"imu_link\"), frequency))),\n _ft_foot_left(std::make_shared<sensor::ForceTorque>(joint(\"leg_left_6_joint\"), frequency, \"parent_to_child\")),\n _ft_foot_right(std::make_shared<sensor::ForceTorque>(joint(\"leg_right_6_joint\"), frequency, \"parent_to_child\")),\n _ft_wrist_left(std::make_shared<sensor::ForceTorque>(joint(\"wrist_left_ft_joint\"), frequency, \"parent_to_child\")),\n _ft_wrist_right(std::make_shared<sensor::ForceTorque>(joint(\"wrist_right_ft_joint\"), frequency, \"parent_to_child\")),\n _frequency(frequency)\n {\n // use position/torque limits\n set_position_enforced(true);\n\n // position Talos\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 1.1}));\n }\n\n void Talos::reset()\n {\n Robot::reset();\n\n // position Talos\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 1.1}));\n }\n\n void Talos::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_imu);\n\n simu->add_sensor(_ft_foot_left);\n simu->add_sensor(_ft_foot_right);\n simu->add_sensor(_ft_wrist_left);\n simu->add_sensor(_ft_wrist_right);\n\n // torques sensors\n std::vector<std::string> joints = {\n // torso\n \"torso_1_joint\",\n \"torso_2_joint\",\n // arm_left\n \"arm_left_1_joint\", \"arm_left_2_joint\",\n \"arm_left_3_joint\", \"arm_left_4_joint\",\n // arm_right\n \"arm_right_1_joint\", \"arm_right_2_joint\",\n \"arm_right_3_joint\", \"arm_right_4_joint\",\n // leg_left\n \"leg_left_1_joint\", \"leg_left_2_joint\", \"leg_left_3_joint\",\n \"leg_left_4_joint\", \"leg_left_5_joint\", \"leg_left_6_joint\",\n // leg_right\n \"leg_right_1_joint\", \"leg_right_2_joint\", \"leg_right_3_joint\",\n \"leg_right_4_joint\", \"leg_right_5_joint\", \"leg_right_6_joint\"\n\n };\n for (auto& s : joints) {\n auto t = std::make_shared<sensor::Torque>(joint(s), _frequency);\n _torques[s] = t;\n simu->add_sensor(t);\n }\n }\n\n void Talos::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_imu);\n\n simu->remove_sensor(_ft_foot_left);\n simu->remove_sensor(_ft_foot_right);\n simu->remove_sensor(_ft_wrist_left);\n simu->remove_sensor(_ft_wrist_right);\n\n for (auto& t : _torques) {\n simu->remove_sensor(t.second);\n }\n }\n\n void TalosFastCollision::_post_addition(RobotDARTSimu* simu)\n {\n Talos::_post_addition(simu);\n auto vec = TalosFastCollision::collision_vec();\n for (auto& t : vec) {\n simu->set_collision_masks(simu->robots().size() - 1, std::get<0>(t), std::get<1>(t), std::get<2>(t));\n }\n }\n\n std::vector<std::tuple<std::string, uint32_t, uint32_t>> TalosFastCollision::collision_vec()\n {\n std::vector<std::tuple<std::string, uint32_t, uint32_t>> vec;\n vec.push_back(std::make_tuple(\"leg_right_6_link\", 0x1, 0x1 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_right_4_link\", 0x2, 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_6_link\", 0x4, 0x1 | 0x2 | 0x4 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_4_link\", 0x8, 0x1 | 0x2 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_1_link\", 0x10, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_3_link\", 0x20, 0x1 | 0x2 | 0x4 | 0x8 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_right_1_link\", 0x40, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_right_3_link\", 0x80, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x80 | 0x100 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"arm_left_7_link\", 0x100, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"arm_left_5_link\", 0x200, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x200 | 0x400 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"arm_right_7_link\", 0x400, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x400 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"arm_right_5_link\", 0x800, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"torso_2_link\", 0x1000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000));\n vec.push_back(std::make_tuple(\"base_link\", 0x2000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x2000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_right_2_link\", 0x4000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"leg_left_2_link\", 0x8000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x1000 | 0x4000 | 0x8000 | 0x10000));\n vec.push_back(std::make_tuple(\"head_2_link\", 0x10000, 0x1 | 0x2 | 0x4 | 0x8 | 0x10 | 0x20 | 0x40 | 0x80 | 0x100 | 0x200 | 0x800 | 0x2000 | 0x4000 | 0x8000 | 0x10000));\n return vec;\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > talos.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"#include \"robot_dart/sensor/imu.hpp\"#include \"robot_dart/sensor/torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/talos.hpp
File List > robot_dart > robots > talos.hpp
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#ifndef ROBOT_DART_ROBOTS_TALOS_HPP\n#define ROBOT_DART_ROBOTS_TALOS_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n#include \"robot_dart/sensor/imu.hpp\"\n#include \"robot_dart/sensor/torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Talos : public Robot {\n public:\n Talos(size_t frequency = 1000, const std::string& urdf = \"talos/talos.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('talos_description', 'talos/talos_description'));\n\n void reset() override;\n\n const sensor::IMU& imu() const { return *_imu; }\n const sensor::ForceTorque& ft_foot_left() const { return *_ft_foot_left; }\n const sensor::ForceTorque& ft_foot_right() const { return *_ft_foot_right; }\n const sensor::ForceTorque& ft_wrist_left() const { return *_ft_wrist_left; }\n const sensor::ForceTorque& ft_wrist_right() const { return *_ft_wrist_right; }\n\n using torque_map_t = std::unordered_map<std::string, std::shared_ptr<sensor::Torque>>;\n const torque_map_t& torques() const { return _torques; }\n\n protected:\n std::shared_ptr<sensor::IMU> _imu;\n std::shared_ptr<sensor::ForceTorque> _ft_foot_left;\n std::shared_ptr<sensor::ForceTorque> _ft_foot_right;\n std::shared_ptr<sensor::ForceTorque> _ft_wrist_left;\n std::shared_ptr<sensor::ForceTorque> _ft_wrist_right;\n torque_map_t _torques;\n size_t _frequency;\n\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n\n class TalosLight : public Talos {\n public:\n TalosLight(size_t frequency = 1000, const std::string& urdf = \"talos/talos_fast.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('talos_description', 'talos/talos_description')) : Talos(frequency, urdf, packages) {}\n };\n\n // for talos_fast_collision.urdf or talos_box.urdf which have simple box collision shapes\n class TalosFastCollision : public Talos {\n public:\n TalosFastCollision(size_t frequency = 1000, const std::string& urdf = \"talos/talos_fast_collision.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('talos_description', 'talos/talos_description')) : Talos(frequency, urdf, packages) { set_self_collision(); }\n static std::vector<std::tuple<std::string, uint32_t, uint32_t>> collision_vec();\n\n protected:\n void _post_addition(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > tiago.cpp
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#include \"robot_dart/robots/tiago.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/tiago.cpp
File List > robot_dart > robots > tiago.cpp
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#include \"robot_dart/robots/tiago.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Tiago::Tiago(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _ft_wrist(std::make_shared<sensor::ForceTorque>(joint(\"gripper_tool_joint\"), frequency))\n {\n set_position_enforced(true);\n // We use servo actuators, but not for the caster joints\n set_actuator_types(\"servo\");\n\n // position Tiago\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.}));\n }\n\n void Tiago::reset()\n {\n Robot::reset();\n\n // position Tiago\n set_base_pose(robot_dart::make_vector({0., 0., M_PI / 2., 0., 0., 0.}));\n }\n\n void Tiago::set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names, bool override_mimic, bool override_base, bool override_caster)\n {\n auto jt = joint_names;\n if (!override_caster) {\n if (joint_names.size() == 0)\n jt = Robot::joint_names();\n for (const auto& jnt : caster_joints()) {\n auto it = std::find(jt.begin(), jt.end(), jnt);\n if (it != jt.end()) {\n jt.erase(it);\n }\n }\n }\n Robot::set_actuator_types(type, jt, override_mimic, override_base);\n }\n\n void Tiago::set_actuator_type(const std::string& type, const std::string& joint_name, bool override_mimic, bool override_base, bool override_caster)\n {\n set_actuator_types(type, {joint_name}, override_mimic, override_base, override_caster);\n }\n\n void Tiago::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_ft_wrist);\n }\n\n void Tiago::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_ft_wrist);\n }\n\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > tiago.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/tiago.hpp
File List > robot_dart > robots > tiago.hpp
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#ifndef ROBOT_DART_ROBOTS_TIAGO_HPP\n#define ROBOT_DART_ROBOTS_TIAGO_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Tiago : public Robot {\n public:\n Tiago(size_t frequency = 1000, const std::string& urdf = \"tiago/tiago_steel.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('tiago_description', 'tiago/tiago_description'));\n\n void reset() override;\n\n const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }\n\n std::vector<std::string> caster_joints() const { return {\"caster_back_left_2_joint\", \"caster_back_left_1_joint\", \"caster_back_right_2_joint\", \"caster_back_right_1_joint\", \"caster_front_left_2_joint\", \"caster_front_left_1_joint\", \"caster_front_right_2_joint\", \"caster_front_right_1_joint\"}; }\n\n void set_actuator_types(const std::string& type, const std::vector<std::string>& joint_names = {}, bool override_mimic = false, bool override_base = false, bool override_caster = false);\n void set_actuator_type(const std::string& type, const std::string& joint_name, bool override_mimic = false, bool override_base = false, bool override_caster = false);\n\n protected:\n std::shared_ptr<sensor::ForceTorque> _ft_wrist;\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > ur3e.cpp
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#include \"robot_dart/robots/ur3e.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"The documentation for this class was generated from the following file robot_dart/robots/ur3e.cpp
File List > robot_dart > robots > ur3e.cpp
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#include \"robot_dart/robots/ur3e.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n Ur3e::Ur3e(size_t frequency, const std::string& urdf, const std::vector<std::pair<std::string, std::string>>& packages)\n : Robot(urdf, packages),\n _ft_wrist(std::make_shared<sensor::ForceTorque>(joint(\"wrist_3-flange\"), frequency))\n {\n fix_to_world();\n set_position_enforced(true);\n set_color_mode(\"material\");\n }\n\n void Ur3e::_post_addition(RobotDARTSimu* simu)\n {\n // We do not want to add sensors if we are a ghost robot\n if (ghost())\n return;\n simu->add_sensor(_ft_wrist);\n }\n\n void Ur3e::_post_removal(RobotDARTSimu* simu)\n {\n simu->remove_sensor(_ft_wrist);\n }\n } // namespace robots\n} // namespace robot_dart\nFileList > robot_dart > robots > ur3e.hpp
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#include \"robot_dart/robot.hpp\"#include \"robot_dart/sensor/force_torque.hpp\"The documentation for this class was generated from the following file robot_dart/robots/ur3e.hpp
File List > robot_dart > robots > ur3e.hpp
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#ifndef ROBOT_DART_ROBOTS_UR3E_HPP\n#define ROBOT_DART_ROBOTS_UR3E_HPP\n\n#include \"robot_dart/robot.hpp\"\n#include \"robot_dart/sensor/force_torque.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Ur3e : public Robot {\n public:\n Ur3e(size_t frequency = 1000, const std::string& urdf = \"ur3e/ur3e.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('ur3e_description', 'ur3e/ur3e_description'));\n\n const sensor::ForceTorque& ft_wrist() const { return *_ft_wrist; }\n\n protected:\n std::shared_ptr<sensor::ForceTorque> _ft_wrist;\n void _post_addition(RobotDARTSimu* simu) override;\n void _post_removal(RobotDARTSimu* simu) override;\n };\n\n class Ur3eHand : public Ur3e {\n public:\n Ur3eHand(size_t frequency = 1000, const std::string& urdf = \"ur3e/ur3e_with_schunk_hand.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('ur3e_description', 'ur3e/ur3e_description')) : Ur3e(frequency, urdf, packages) {}\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > robots > vx300.hpp
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#include \"robot_dart/robot.hpp\"The documentation for this class was generated from the following file robot_dart/robots/vx300.hpp
File List > robot_dart > robots > vx300.hpp
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#ifndef ROBOT_DART_ROBOTS_VX300_HPP\n#define ROBOT_DART_ROBOTS_VX300_HPP\n\n#include \"robot_dart/robot.hpp\"\n\nnamespace robot_dart {\n namespace robots {\n class Vx300 : public Robot {\n public:\n Vx300(const std::string& urdf = \"vx300/vx300.urdf\", const std::vector<std::pair<std::string, std::string>>& packages = ('interbotix_xsarm_descriptions', 'vx300')) : Robot(urdf, packages)\n {\n fix_to_world();\n set_position_enforced(true);\n set_color_mode(\"aspect\");\n }\n };\n } // namespace robots\n} // namespace robot_dart\n#endif\nFileList > robot_dart > sensor
"},{"location":"api/dir_d1adb19f0b40b70b30ee0daf1901679b/#files","title":"Files","text":"Type Name file force_torque.cpp file force_torque.hpp file imu.cpp file imu.hpp file sensor.cpp file sensor.hpp file torque.cpp file torque.hppThe documentation for this class was generated from the following file robot_dart/sensor/
FileList > robot_dart > sensor > force_torque.cpp
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#include \"force_torque.hpp\"#include <robot_dart/utils_headers_dart_dynamics.hpp>The documentation for this class was generated from the following file robot_dart/sensor/force_torque.cpp
File List > robot_dart > sensor > force_torque.cpp
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#include \"force_torque.hpp\"\n\n#include <robot_dart/utils_headers_dart_dynamics.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n ForceTorque::ForceTorque(dart::dynamics::Joint* joint, size_t frequency, const std::string& direction) : Sensor(frequency), _direction(direction)\n {\n attach_to_joint(joint, Eigen::Isometry3d::Identity());\n }\n\n void ForceTorque::init()\n {\n _wrench.setZero();\n\n attach_to_joint(_joint_attached, Eigen::Isometry3d::Identity());\n _active = true;\n }\n\n void ForceTorque::calculate(double)\n {\n if (!_attached_to_joint)\n return; // cannot compute anything if not attached to a joint\n\n Eigen::Vector6d wrench = Eigen::Vector6d::Zero();\n auto child_body = _joint_attached->getChildBodyNode();\n ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", );\n\n wrench = -dart::math::dAdT(_joint_attached->getTransformFromChildBodyNode(), child_body->getBodyForce());\n\n // We always compute things in SENSOR frame (aka joint frame)\n if (_direction == \"parent_to_child\") {\n _wrench = wrench;\n }\n else // \"child_to_parent\" (default)\n {\n _wrench = -wrench;\n }\n }\n\n std::string ForceTorque::type() const { return \"ft\"; }\n\n Eigen::Vector3d ForceTorque::force() const\n {\n return _wrench.tail(3);\n }\n\n Eigen::Vector3d ForceTorque::torque() const\n {\n return _wrench.head(3);\n }\n\n const Eigen::Vector6d& ForceTorque::wrench() const\n {\n return _wrench;\n }\n } // namespace sensor\n} // namespace robot_dart\nFileList > robot_dart > sensor > force_torque.hpp
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#include <robot_dart/sensor/sensor.hpp>The documentation for this class was generated from the following file robot_dart/sensor/force_torque.hpp
File List > robot_dart > sensor > force_torque.hpp
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#ifndef ROBOT_DART_SENSOR_FORCE_TORQUE_HPP\n#define ROBOT_DART_SENSOR_FORCE_TORQUE_HPP\n\n#include <robot_dart/sensor/sensor.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n class ForceTorque : public Sensor {\n public:\n ForceTorque(dart::dynamics::Joint* joint, size_t frequency = 1000, const std::string& direction = \"child_to_parent\");\n ForceTorque(const std::shared_ptr<Robot>& robot, const std::string& joint_name, size_t frequency = 1000, const std::string& direction = \"child_to_parent\") : ForceTorque(robot->joint(joint_name), frequency, direction) {}\n\n void init() override;\n\n void calculate(double) override;\n\n std::string type() const override;\n\n Eigen::Vector3d force() const;\n Eigen::Vector3d torque() const;\n const Eigen::Vector6d& wrench() const;\n\n void attach_to_body(dart::dynamics::BodyNode*, const Eigen::Isometry3d&) override\n {\n ROBOT_DART_WARNING(true, \"You cannot attach a force/torque sensor to a body!\");\n }\n\n protected:\n std::string _direction;\n\n Eigen::Vector6d _wrench;\n };\n } // namespace sensor\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > sensor > imu.cpp
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#include \"imu.hpp\"#include <robot_dart/robot_dart_simu.hpp>#include <robot_dart/utils_headers_dart_dynamics.hpp>The documentation for this class was generated from the following file robot_dart/sensor/imu.cpp
File List > robot_dart > sensor > imu.cpp
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#include \"imu.hpp\"\n\n#include <robot_dart/robot_dart_simu.hpp>\n#include <robot_dart/utils_headers_dart_dynamics.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n IMU::IMU(const IMUConfig& config) : Sensor(config.frequency), _config(config) {}\n\n void IMU::init()\n {\n _angular_vel.setZero();\n _linear_accel.setZero();\n\n attach_to_body(_config.body, Eigen::Isometry3d::Identity());\n if (_simu)\n _active = true;\n }\n\n void IMU::calculate(double)\n {\n if (!_attached_to_body)\n return; // cannot compute anything if not attached to a link\n ROBOT_DART_EXCEPTION_ASSERT(_simu, \"Simulation pointer is null!\");\n\n Eigen::Vector3d tmp = dart::math::logMap(_body_attached->getTransform(dart::dynamics::Frame::World(), _body_attached).linear().matrix());\n _angular_pos = Eigen::AngleAxisd(tmp.norm(), tmp.normalized());\n _angular_vel = _body_attached->getSpatialVelocity().head(3); // angular velocity with respect to the world, in local coordinates\n _linear_accel = _body_attached->getSpatialAcceleration().tail(3); // linear acceleration with respect to the world, in local coordinates\n\n // add biases\n _angular_vel += _config.gyro_bias;\n _linear_accel += _config.accel_bias;\n\n // add gravity to acceleration\n _linear_accel -= _world_pose.linear().transpose() * _simu->gravity();\n }\n\n std::string IMU::type() const { return \"imu\"; }\n\n const Eigen::AngleAxisd& IMU::angular_position() const\n {\n return _angular_pos;\n }\n\n Eigen::Vector3d IMU::angular_position_vec() const\n {\n return _angular_pos.angle() * _angular_pos.axis();\n }\n\n const Eigen::Vector3d& IMU::angular_velocity() const\n {\n return _angular_vel;\n }\n\n const Eigen::Vector3d& IMU::linear_acceleration() const\n {\n return _linear_accel;\n }\n } // namespace sensor\n} // namespace robot_dart\nFileList > robot_dart > sensor > imu.hpp
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#include <robot_dart/sensor/sensor.hpp>The documentation for this class was generated from the following file robot_dart/sensor/imu.hpp
File List > robot_dart > sensor > imu.hpp
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#ifndef ROBOT_DART_SENSOR_IMU_HPP\n#define ROBOT_DART_SENSOR_IMU_HPP\n\n#include <robot_dart/sensor/sensor.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n // TO-DO: Implement some noise models (e.g., https://github.com/ethz-asl/kalibr/wiki/IMU-Noise-Model)\n struct IMUConfig {\n IMUConfig(dart::dynamics::BodyNode* b, size_t f) : gyro_bias(Eigen::Vector3d::Zero()), accel_bias(Eigen::Vector3d::Zero()), body(b), frequency(f){};\n IMUConfig(const Eigen::Vector3d& gyro_bias, const Eigen::Vector3d& accel_bias, dart::dynamics::BodyNode* b, size_t f) : gyro_bias(gyro_bias), accel_bias(accel_bias), body(b), frequency(f){};\n IMUConfig() : gyro_bias(Eigen::Vector3d::Zero()), accel_bias(Eigen::Vector3d::Zero()), body(nullptr), frequency(200) {}\n\n // We assume fixed bias; TO-DO: Make this time-dependent\n Eigen::Vector3d gyro_bias = Eigen::Vector3d::Zero();\n Eigen::Vector3d accel_bias = Eigen::Vector3d::Zero();\n\n // // We assume white Gaussian noise // TO-DO: Implement this\n // Eigen::Vector3d _gyro_std = Eigen::Vector3d::Zero();\n // Eigen::Vector3d _accel_std = Eigen::Vector3d::Zero();\n\n // BodyNode/Link attached to\n dart::dynamics::BodyNode* body = nullptr;\n // Eigen::Isometry3d _tf = Eigen::Isometry3d::Identity();\n\n // Frequency\n size_t frequency = 200;\n };\n\n class IMU : public Sensor {\n public:\n IMU(const IMUConfig& config);\n\n void init() override;\n\n void calculate(double) override;\n\n std::string type() const override;\n\n const Eigen::AngleAxisd& angular_position() const;\n Eigen::Vector3d angular_position_vec() const;\n const Eigen::Vector3d& angular_velocity() const;\n const Eigen::Vector3d& linear_acceleration() const;\n\n void attach_to_joint(dart::dynamics::Joint*, const Eigen::Isometry3d&) override\n {\n ROBOT_DART_WARNING(true, \"You cannot attach an IMU sensor to a joint!\");\n }\n\n protected:\n // double _prev_time = 0.;\n IMUConfig _config;\n\n Eigen::AngleAxisd _angular_pos; // TO-DO: Check how to do this as close as possible to real sensors\n Eigen::Vector3d _angular_vel;\n Eigen::Vector3d _linear_accel;\n };\n } // namespace sensor\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > sensor > sensor.cpp
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#include \"sensor.hpp\"#include \"robot_dart/robot_dart_simu.hpp\"#include \"robot_dart/utils.hpp\"#include \"robot_dart/utils_headers_dart_dynamics.hpp\"The documentation for this class was generated from the following file robot_dart/sensor/sensor.cpp
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#include \"sensor.hpp\"\n#include \"robot_dart/robot_dart_simu.hpp\"\n#include \"robot_dart/utils.hpp\"\n#include \"robot_dart/utils_headers_dart_dynamics.hpp\"\n\nnamespace robot_dart {\n namespace sensor {\n Sensor::Sensor(size_t freq) : _active(false), _frequency(freq), _world_pose(Eigen::Isometry3d::Identity()), _attaching_to_body(false), _attached_to_body(false), _attaching_to_joint(false), _attached_to_joint(false) {}\n\n void Sensor::activate(bool enable)\n {\n _active = false;\n if (enable) {\n init();\n }\n }\n\n bool Sensor::active() const\n {\n return _active;\n }\n\n void Sensor::set_simu(RobotDARTSimu* simu)\n {\n ROBOT_DART_EXCEPTION_ASSERT(simu, \"Simulation pointer is null!\");\n _simu = simu;\n bool check = static_cast<int>(_frequency) > simu->physics_freq();\n ROBOT_DART_WARNING(check, \"Sensor frequency is bigger than simulation physics. Setting it to simulation rate!\");\n if (check)\n _frequency = simu->physics_freq();\n }\n\n const RobotDARTSimu* Sensor::simu() const\n {\n return _simu;\n }\n\n size_t Sensor::frequency() const { return _frequency; }\n void Sensor::set_frequency(size_t freq) { _frequency = freq; }\n\n void Sensor::set_pose(const Eigen::Isometry3d& tf) { _world_pose = tf; }\n const Eigen::Isometry3d& Sensor::pose() const { return _world_pose; }\n\n void Sensor::detach()\n {\n _attached_to_body = false;\n _attached_to_joint = false;\n _body_attached = nullptr;\n _joint_attached = nullptr;\n _active = false;\n }\n\n void Sensor::refresh(double t)\n {\n if (!_active)\n return;\n if (_attaching_to_body && !_attached_to_body) {\n attach_to_body(_body_attached, _attached_tf);\n }\n else if (_attaching_to_joint && !_attached_to_joint) {\n attach_to_joint(_joint_attached, _attached_tf);\n }\n\n if (_attached_to_body && _body_attached) {\n _world_pose = _body_attached->getWorldTransform() * _attached_tf;\n }\n else if (_attached_to_joint && _joint_attached) {\n dart::dynamics::BodyNode* body = nullptr;\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n\n if (_joint_attached->getParentBodyNode()) {\n body = _joint_attached->getParentBodyNode();\n tf = _joint_attached->getTransformFromParentBodyNode();\n }\n else if (_joint_attached->getChildBodyNode()) {\n body = _joint_attached->getChildBodyNode();\n tf = _joint_attached->getTransformFromChildBodyNode();\n }\n\n if (body)\n _world_pose = body->getWorldTransform() * tf * _attached_tf;\n }\n calculate(t);\n }\n\n void Sensor::attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d& tf)\n {\n _body_attached = body;\n _attached_tf = tf;\n\n if (_body_attached) {\n _attaching_to_body = false;\n _attached_to_body = true;\n\n _attaching_to_joint = false;\n _attached_to_joint = false;\n _joint_attached = nullptr;\n }\n else { // we cannot keep attaching to a null BodyNode\n _attaching_to_body = false;\n _attached_to_body = false;\n }\n }\n\n void Sensor::attach_to_joint(dart::dynamics::Joint* joint, const Eigen::Isometry3d& tf)\n {\n _joint_attached = joint;\n _attached_tf = tf;\n\n if (_joint_attached) {\n _attaching_to_joint = false;\n _attached_to_joint = true;\n\n _attaching_to_body = false;\n _attached_to_body = false;\n }\n else { // we cannot keep attaching to a null Joint\n _attaching_to_joint = false;\n _attached_to_joint = false;\n }\n }\n const std::string& Sensor::attached_to() const\n {\n ROBOT_DART_EXCEPTION_ASSERT(_attached_to_body || _attached_to_joint, \"Joint is not attached to anything\");\n if (_attached_to_body)\n return _body_attached->getName();\n // attached to joint\n return _joint_attached->getName();\n }\n } // namespace sensor\n} // namespace robot_dart\nFileList > robot_dart > sensor > sensor.hpp
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#include <robot_dart/robot.hpp>#include <robot_dart/utils.hpp>#include <memory>#include <vector>The documentation for this class was generated from the following file robot_dart/sensor/sensor.hpp
File List > robot_dart > sensor > sensor.hpp
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#ifndef ROBOT_DART_SENSOR_SENSOR_HPP\n#define ROBOT_DART_SENSOR_SENSOR_HPP\n\n#include <robot_dart/robot.hpp>\n#include <robot_dart/utils.hpp>\n\n#include <memory>\n#include <vector>\n\nnamespace dart {\n namespace dynamics {\n class BodyNode;\n class Joint;\n } // namespace dynamics\n} // namespace dart\n\nnamespace robot_dart {\n class RobotDARTSimu;\n\n namespace sensor {\n class Sensor {\n public:\n Sensor(size_t freq = 40);\n virtual ~Sensor() {}\n\n void activate(bool enable = true);\n bool active() const;\n\n void set_simu(RobotDARTSimu* simu);\n const RobotDARTSimu* simu() const;\n\n size_t frequency() const;\n void set_frequency(size_t freq);\n\n void set_pose(const Eigen::Isometry3d& tf);\n const Eigen::Isometry3d& pose() const;\n\n void refresh(double t);\n\n virtual void init() = 0;\n // TO-DO: Maybe make this const?\n virtual void calculate(double) = 0;\n\n virtual std::string type() const = 0;\n\n virtual void attach_to_body(dart::dynamics::BodyNode* body, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity());\n void attach_to_body(const std::shared_ptr<Robot>& robot, const std::string& body_name, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity()) { attach_to_body(robot->body_node(body_name), tf); }\n\n virtual void attach_to_joint(dart::dynamics::Joint* joint, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity());\n void attach_to_joint(const std::shared_ptr<Robot>& robot, const std::string& joint_name, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity()) { attach_to_joint(robot->joint(joint_name), tf); }\n\n void detach();\n const std::string& attached_to() const;\n\n protected:\n RobotDARTSimu* _simu = nullptr;\n bool _active;\n size_t _frequency;\n\n Eigen::Isometry3d _world_pose;\n\n bool _attaching_to_body = false, _attached_to_body = false;\n bool _attaching_to_joint = false, _attached_to_joint = false;\n Eigen::Isometry3d _attached_tf;\n dart::dynamics::BodyNode* _body_attached;\n dart::dynamics::Joint* _joint_attached;\n };\n } // namespace sensor\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > sensor > torque.cpp
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#include \"torque.hpp\"#include <robot_dart/robot_dart_simu.hpp>#include <robot_dart/utils_headers_dart_dynamics.hpp>The documentation for this class was generated from the following file robot_dart/sensor/torque.cpp
File List > robot_dart > sensor > torque.cpp
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#include \"torque.hpp\"\n\n#include <robot_dart/robot_dart_simu.hpp>\n#include <robot_dart/utils_headers_dart_dynamics.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n Torque::Torque(dart::dynamics::Joint* joint, size_t frequency) : Sensor(frequency), _torques(joint->getNumDofs())\n {\n attach_to_joint(joint, Eigen::Isometry3d::Identity());\n }\n\n void Torque::init()\n {\n _torques.setZero();\n\n attach_to_joint(_joint_attached, Eigen::Isometry3d::Identity());\n _active = true;\n }\n\n void Torque::calculate(double)\n {\n if (!_attached_to_joint)\n return; // cannot compute anything if not attached to a joint\n\n Eigen::Vector6d wrench = Eigen::Vector6d::Zero();\n auto child_body = _joint_attached->getChildBodyNode();\n ROBOT_DART_ASSERT(child_body != nullptr, \"Child BodyNode is nullptr\", );\n\n wrench = child_body->getBodyForce();\n\n // get forces for only the only degrees of freedom in this joint\n _torques = _joint_attached->getRelativeJacobian().transpose() * wrench;\n }\n\n std::string Torque::type() const { return \"t\"; }\n\n const Eigen::VectorXd& Torque::torques() const\n {\n return _torques;\n }\n } // namespace sensor\n} // namespace robot_dart\nFileList > robot_dart > sensor > torque.hpp
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#include <robot_dart/sensor/sensor.hpp>The documentation for this class was generated from the following file robot_dart/sensor/torque.hpp
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#ifndef ROBOT_DART_SENSOR_TORQUE_HPP\n#define ROBOT_DART_SENSOR_TORQUE_HPP\n\n#include <robot_dart/sensor/sensor.hpp>\n\nnamespace robot_dart {\n namespace sensor {\n class Torque : public Sensor {\n public:\n Torque(dart::dynamics::Joint* joint, size_t frequency = 1000);\n Torque(const std::shared_ptr<Robot>& robot, const std::string& joint_name, size_t frequency = 1000) : Torque(robot->joint(joint_name), frequency) {}\n\n void init() override;\n\n void calculate(double) override;\n\n std::string type() const override;\n\n const Eigen::VectorXd& torques() const;\n\n void attach_to_body(dart::dynamics::BodyNode*, const Eigen::Isometry3d&) override\n {\n ROBOT_DART_WARNING(true, \"You cannot attach a torque sensor to a body!\");\n }\n\n protected:\n Eigen::VectorXd _torques;\n };\n } // namespace sensor\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > robot_dart_simu.cpp
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#include \"robot_dart_simu.hpp\"#include \"gui_data.hpp\"#include \"utils.hpp\"#include \"utils_headers_dart_collision.hpp\"#include \"utils_headers_dart_dynamics.hpp\"#include <sstream>The documentation for this class was generated from the following file robot_dart/robot_dart_simu.cpp
File List > robot_dart > robot_dart_simu.cpp
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#include \"robot_dart_simu.hpp\"\n#include \"gui_data.hpp\"\n#include \"utils.hpp\"\n#include \"utils_headers_dart_collision.hpp\"\n#include \"utils_headers_dart_dynamics.hpp\"\n\n#include <sstream>\n\nnamespace robot_dart {\n namespace collision_filter {\n // This is inspired from Swift: https://developer.apple.com/documentation/spritekit/skphysicsbody#//apple_ref/occ/instp/SKPhysicsBody/collisionBitMask\n // https://stackoverflow.com/questions/39063949/cant-understand-how-collision-bit-mask-works\n class BitmaskContactFilter : public dart::collision::BodyNodeCollisionFilter {\n public:\n using DartCollisionConstPtr = const dart::collision::CollisionObject*;\n using DartShapeConstPtr = const dart::dynamics::ShapeNode*;\n\n struct Masks {\n uint32_t collision_mask = 0xffffffff;\n uint32_t category_mask = 0xffffffff;\n };\n\n virtual ~BitmaskContactFilter() = default;\n\n // This function follows DART's coding style as it needs to override a function\n bool ignoresCollision(DartCollisionConstPtr object1, DartCollisionConstPtr object2) const override\n {\n auto shape_node1 = object1->getShapeFrame()->asShapeNode();\n auto shape_node2 = object2->getShapeFrame()->asShapeNode();\n\n if (dart::collision::BodyNodeCollisionFilter::ignoresCollision(object1, object2))\n return true;\n\n auto shape1_iter = _bitmask_map.find(shape_node1);\n auto shape2_iter = _bitmask_map.find(shape_node2);\n if (shape1_iter != _bitmask_map.end() && shape2_iter != _bitmask_map.end()) {\n auto col_mask1 = shape1_iter->second.collision_mask;\n auto cat_mask1 = shape1_iter->second.category_mask;\n\n auto col_mask2 = shape2_iter->second.collision_mask;\n auto cat_mask2 = shape2_iter->second.category_mask;\n\n if ((col_mask1 & cat_mask2) == 0 && (col_mask2 & cat_mask1) == 0)\n return true;\n }\n\n return false;\n }\n\n void add_to_map(DartShapeConstPtr shape, uint32_t col_mask, uint32_t cat_mask)\n {\n _bitmask_map[shape] = {col_mask, cat_mask};\n }\n\n void add_to_map(dart::dynamics::SkeletonPtr skel, uint32_t col_mask, uint32_t cat_mask)\n {\n for (std::size_t i = 0; i < skel->getNumShapeNodes(); ++i) {\n auto shape = skel->getShapeNode(i);\n this->add_to_map(shape, col_mask, cat_mask);\n }\n }\n\n void remove_from_map(DartShapeConstPtr shape)\n {\n auto shape_iter = _bitmask_map.find(shape);\n if (shape_iter != _bitmask_map.end())\n _bitmask_map.erase(shape_iter);\n }\n\n void remove_from_map(dart::dynamics::SkeletonPtr skel)\n {\n for (std::size_t i = 0; i < skel->getNumShapeNodes(); ++i) {\n auto shape = skel->getShapeNode(i);\n this->remove_from_map(shape);\n }\n }\n\n void clear_all() { _bitmask_map.clear(); }\n\n Masks mask(DartShapeConstPtr shape) const\n {\n auto shape_iter = _bitmask_map.find(shape);\n if (shape_iter != _bitmask_map.end())\n return shape_iter->second;\n return {0xffffffff, 0xffffffff};\n }\n\n private:\n // We need ShapeNodes and not BodyNodes, since in DART collision checking is performed in ShapeNode-level\n // in RobotDARTSimu, we only allow setting one mask per BodyNode; maybe we can improve the performance of this slightly\n std::unordered_map<DartShapeConstPtr, Masks> _bitmask_map;\n };\n } // namespace collision_filter\n\n RobotDARTSimu::RobotDARTSimu(double timestep) : _world(std::make_shared<dart::simulation::World>()),\n _old_index(0),\n _break(false),\n _scheduler(timestep),\n _physics_freq(std::round(1. / timestep)),\n _control_freq(_physics_freq)\n {\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::DARTCollisionDetector::create());\n _world->getConstraintSolver()->getCollisionOption().collisionFilter = std::make_shared<collision_filter::BitmaskContactFilter>();\n _world->setTimeStep(timestep);\n _world->setTime(0.0);\n _graphics = std::make_shared<gui::Base>();\n\n _gui_data.reset(new simu::GUIData());\n }\n\n RobotDARTSimu::~RobotDARTSimu()\n {\n _robots.clear();\n _sensors.clear();\n }\n\n void RobotDARTSimu::run(double max_duration, bool reset_commands, bool force_position_bounds)\n {\n _break = false;\n double old_time = _world->getTime();\n double factor = _world->getTimeStep() / 2.;\n\n while ((_world->getTime() - old_time - max_duration) < -factor) {\n if (step(reset_commands, force_position_bounds))\n break;\n }\n }\n\n bool RobotDARTSimu::step_world(bool reset_commands, bool force_position_bounds)\n {\n if (_scheduler(_physics_freq)) {\n _world->step(reset_commands);\n if (force_position_bounds)\n for (auto& r : _robots)\n r->force_position_bounds();\n }\n\n // Update graphics\n if (_scheduler(_graphics_freq)) {\n // Update default texts\n if (_text_panel) { // Need to re-transform as the size of the window might have changed\n Eigen::Affine2d tf = Eigen::Affine2d::Identity();\n tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., _graphics->height() / 2.));\n // tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., 0.));\n _text_panel->transformation = tf;\n }\n if (_status_bar) {\n _status_bar->text = status_bar_text(); // this is dynamic text (timings)\n Eigen::Affine2d tf = Eigen::Affine2d::Identity();\n tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., -static_cast<double>(_graphics->height() / 2.)));\n // tf.translate(Eigen::Vector2d(-static_cast<double>(_graphics->width()) / 2., 0.));\n _status_bar->transformation = tf;\n }\n\n // Update robot-specific GUI data\n for (auto& robot : _robots) {\n _gui_data->update_robot(robot);\n }\n\n _graphics->refresh();\n }\n\n // update sensors\n for (auto& sensor : _sensors) {\n if (sensor->active() && _scheduler(sensor->frequency())) {\n sensor->refresh(_world->getTime());\n }\n }\n\n _old_index++;\n _scheduler.step();\n\n return _break || _graphics->done();\n }\n\n bool RobotDARTSimu::step(bool reset_commands, bool force_position_bounds)\n {\n if (_scheduler(_control_freq)) {\n for (auto& robot : _robots) {\n robot->update(_world->getTime());\n }\n }\n\n return step_world(reset_commands, force_position_bounds);\n }\n\n std::shared_ptr<gui::Base> RobotDARTSimu::graphics() const\n {\n return _graphics;\n }\n\n void RobotDARTSimu::set_graphics(const std::shared_ptr<gui::Base>& graphics)\n {\n _graphics = graphics;\n _graphics->set_simu(this);\n _graphics->set_fps(_graphics_freq);\n }\n\n dart::simulation::WorldPtr RobotDARTSimu::world()\n {\n return _world;\n }\n\n void RobotDARTSimu::add_sensor(const std::shared_ptr<sensor::Sensor>& sensor)\n {\n _sensors.push_back(sensor);\n sensor->set_simu(this);\n sensor->init();\n }\n\n std::vector<std::shared_ptr<sensor::Sensor>> RobotDARTSimu::sensors() const\n {\n return _sensors;\n }\n\n std::shared_ptr<sensor::Sensor> RobotDARTSimu::sensor(size_t index) const\n {\n ROBOT_DART_ASSERT(index < _sensors.size(), \"Sensor index out of bounds\", nullptr);\n return _sensors[index];\n }\n\n void RobotDARTSimu::remove_sensor(const std::shared_ptr<sensor::Sensor>& sensor)\n {\n auto it = std::find(_sensors.begin(), _sensors.end(), sensor);\n if (it != _sensors.end()) {\n _sensors.erase(it);\n }\n }\n\n void RobotDARTSimu::remove_sensor(size_t index)\n {\n ROBOT_DART_ASSERT(index < _sensors.size(), \"Sensor index out of bounds\", );\n _sensors.erase(_sensors.begin() + index);\n }\n\n void RobotDARTSimu::remove_sensors(const std::string& type)\n {\n for (int i = 0; i < static_cast<int>(_sensors.size()); i++) {\n auto& sensor = _sensors[i];\n if (sensor->type() == type) {\n _sensors.erase(_sensors.begin() + i);\n i--;\n }\n }\n }\n\n void RobotDARTSimu::clear_sensors()\n {\n _sensors.clear();\n }\n\n double RobotDARTSimu::timestep() const\n {\n return _world->getTimeStep();\n }\n\n void RobotDARTSimu::set_timestep(double timestep, bool update_control_freq)\n {\n _world->setTimeStep(timestep);\n _physics_freq = std::round(1. / timestep);\n if (update_control_freq)\n _control_freq = _physics_freq;\n\n _scheduler.reset(timestep, _scheduler.sync(), _scheduler.current_time(), _scheduler.real_time());\n }\n\n Eigen::Vector3d RobotDARTSimu::gravity() const\n {\n return _world->getGravity();\n }\n\n void RobotDARTSimu::set_gravity(const Eigen::Vector3d& gravity)\n {\n _world->setGravity(gravity);\n }\n\n void RobotDARTSimu::stop_sim(bool disable)\n {\n _break = disable;\n }\n\n bool RobotDARTSimu::halted_sim() const\n {\n return _break;\n }\n\n size_t RobotDARTSimu::num_robots() const\n {\n return _robots.size();\n }\n\n const std::vector<std::shared_ptr<Robot>>& RobotDARTSimu::robots() const\n {\n return _robots;\n }\n\n std::shared_ptr<Robot> RobotDARTSimu::robot(size_t index) const\n {\n ROBOT_DART_ASSERT(index < _robots.size(), \"Robot index out of bounds\", nullptr);\n return _robots[index];\n }\n\n int RobotDARTSimu::robot_index(const std::shared_ptr<Robot>& robot) const\n {\n auto it = std::find(_robots.begin(), _robots.end(), robot);\n ROBOT_DART_ASSERT(it != _robots.end(), \"Robot index out of bounds\", -1);\n return std::distance(_robots.begin(), it);\n }\n\n void RobotDARTSimu::add_robot(const std::shared_ptr<Robot>& robot)\n {\n if (robot->skeleton()) {\n _robots.push_back(robot);\n _world->addSkeleton(robot->skeleton());\n\n robot->_post_addition(this);\n\n _gui_data->update_robot(robot);\n }\n }\n\n void RobotDARTSimu::add_visual_robot(const std::shared_ptr<Robot>& robot)\n {\n if (robot->skeleton()) {\n // make robot a pure visual one -- assuming that the color is already set\n // visual robots do not do physics updates\n robot->skeleton()->setMobile(false);\n for (auto& bd : robot->skeleton()->getBodyNodes()) {\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n // visual robots do not have collisions\n bd->eachShapeNodeWith<dart::dynamics::CollisionAspect>([](dart::dynamics::ShapeNode* shape) {\n shape->removeAspect<dart::dynamics::CollisionAspect>();\n });\n#else\n auto& collision_shapes = bd->getShapeNodesWith<dart::dynamics::CollisionAspect>();\n for (auto& shape : collision_shapes) {\n shape->removeAspect<dart::dynamics::CollisionAspect>();\n }\n#endif\n }\n\n // visual robots, by default, use the color from the VisualAspect\n robot->set_color_mode(\"aspect\");\n\n // visual robots do not cast shadows\n robot->set_cast_shadows(false);\n // set the ghost/visual flag\n robot->set_ghost(true);\n robot->_post_addition(this);\n\n _robots.push_back(robot);\n _world->addSkeleton(robot->skeleton());\n\n _gui_data->update_robot(robot);\n }\n }\n\n void RobotDARTSimu::remove_robot(const std::shared_ptr<Robot>& robot)\n {\n auto it = std::find(_robots.begin(), _robots.end(), robot);\n if (it != _robots.end()) {\n robot->_post_removal(this);\n _gui_data->remove_robot(robot);\n _world->removeSkeleton(robot->skeleton());\n _robots.erase(it);\n }\n }\n\n void RobotDARTSimu::remove_robot(size_t index)\n {\n ROBOT_DART_ASSERT(index < _robots.size(), \"Robot index out of bounds\", );\n _robots[index]->_post_removal(this);\n _gui_data->remove_robot(_robots[index]);\n _world->removeSkeleton(_robots[index]->skeleton());\n _robots.erase(_robots.begin() + index);\n }\n\n void RobotDARTSimu::clear_robots()\n {\n for (auto& robot : _robots) {\n robot->_post_removal(this);\n _gui_data->remove_robot(robot);\n _world->removeSkeleton(robot->skeleton());\n }\n _robots.clear();\n }\n\n simu::GUIData* RobotDARTSimu::gui_data() { return &(*_gui_data); }\n\n void RobotDARTSimu::enable_text_panel(bool enable, double font_size)\n {\n _enable(_text_panel, enable, font_size);\n if (enable) {\n _text_panel->alignment = 3 << 2; // alignment of status bar should be LineTop; TO-DO: Check how to get types automatically from Magnum?\n // _text_panel->draw_background = true; // we want to draw a background\n // _text_panel->background_color = Eigen::Vector4d(0, 0, 0, 0.75); // black-transparent bar\n }\n }\n\n void RobotDARTSimu::enable_status_bar(bool enable, double font_size)\n {\n _enable(_status_bar, enable, font_size);\n if (enable) {\n _status_bar->alignment = 1 << 2; // alignment of status bar should be LineBottom; TO-DO: Check how to get types automatically from Magnum?\n _status_bar->draw_background = true; // we want to draw a background\n _status_bar->background_color = Eigen::Vector4d(0, 0, 0, 0.75); // black-transparent bar\n }\n }\n\n void RobotDARTSimu::_enable(std::shared_ptr<simu::TextData>& text, bool enable, double font_size)\n {\n if (!text && enable) {\n text = add_text(\"\");\n }\n else if (!enable) {\n if (text)\n _gui_data->remove_text(text);\n text = nullptr;\n }\n if (text && font_size > 0)\n text->font_size = font_size;\n }\n\n void RobotDARTSimu::set_text_panel(const std::string& str)\n {\n ROBOT_DART_ASSERT(_text_panel, \"Panel text object not created. Use enable_text_panel() to create it.\", );\n _text_panel->text = str;\n }\n\n std::string RobotDARTSimu::text_panel_text() const\n {\n ROBOT_DART_ASSERT(_text_panel, \"Panel text object not created. Returning empty string.\", \"\");\n return _text_panel->text;\n }\n\n std::string RobotDARTSimu::status_bar_text() const\n {\n std::ostringstream out;\n out.precision(3);\n double rt = _scheduler.real_time();\n\n out << std::fixed << \"[simulation time: \" << _world->getTime()\n << \"s ] [\"\n << \"wall time: \" << rt << \"s] [\";\n out.precision(1);\n out << _scheduler.real_time_factor() << \"x]\";\n out << \" [it: \" << _scheduler.it_duration() * 1e3 << \" ms]\";\n out << (_scheduler.sync() ? \" [sync]\" : \" [no-sync]\");\n\n return out.str();\n }\n\n std::shared_ptr<simu::TextData> RobotDARTSimu::add_text(const std::string& text, const Eigen::Affine2d& tf, Eigen::Vector4d color, std::uint8_t alignment, bool draw_bg, Eigen::Vector4d bg_color, double font_size)\n {\n return _gui_data->add_text(text, tf, color, alignment, draw_bg, bg_color, font_size);\n }\n\n std::shared_ptr<Robot> RobotDARTSimu::add_floor(double floor_width, double floor_height, const Eigen::Isometry3d& tf, const std::string& floor_name)\n {\n ROBOT_DART_ASSERT((_world->getSkeleton(floor_name) == nullptr), \"We cannot have 2 floors with the name '\" + floor_name + \"'\", nullptr);\n ROBOT_DART_ASSERT((floor_width > 0. && floor_height > 0.), \"Floor dimensions should be bigger than zero!\", nullptr);\n\n dart::dynamics::SkeletonPtr floor_skel = dart::dynamics::Skeleton::create(floor_name);\n\n // Give the floor a body\n dart::dynamics::BodyNodePtr body = floor_skel->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr).second;\n\n // Give the body a shape\n auto box = std::make_shared<dart::dynamics::BoxShape>(Eigen::Vector3d(floor_width, floor_width, floor_height));\n auto box_node = body->createShapeNodeWith<dart::dynamics::VisualAspect, dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(box);\n box_node->getVisualAspect()->setColor(dart::Color::Gray());\n\n // Put the body into position\n Eigen::Isometry3d new_tf = tf;\n new_tf.translate(Eigen::Vector3d(0., 0., -floor_height / 2.0));\n body->getParentJoint()->setTransformFromParentBodyNode(new_tf);\n\n auto floor_robot = std::make_shared<Robot>(floor_skel, floor_name);\n add_robot(floor_robot);\n return floor_robot;\n }\n\n std::shared_ptr<Robot> RobotDARTSimu::add_checkerboard_floor(double floor_width, double floor_height, double size, const Eigen::Isometry3d& tf, const std::string& floor_name, const Eigen::Vector4d& first_color, const Eigen::Vector4d& second_color)\n {\n ROBOT_DART_ASSERT((_world->getSkeleton(floor_name) == nullptr), \"We cannot have 2 floors with the name '\" + floor_name + \"'\", nullptr);\n ROBOT_DART_ASSERT((floor_width > 0. && floor_height > 0. && size > 0.), \"Floor dimensions should be bigger than zero!\", nullptr);\n\n // Add main floor skeleton\n dart::dynamics::SkeletonPtr main_floor_skel = dart::dynamics::Skeleton::create(floor_name + \"_main\");\n\n // Give the floor a body\n dart::dynamics::BodyNodePtr main_body = main_floor_skel->createJointAndBodyNodePair<dart::dynamics::WeldJoint>(nullptr).second;\n\n // Give the body a shape\n auto box = std::make_shared<dart::dynamics::BoxShape>(Eigen::Vector3d(floor_width, floor_width, floor_height));\n // No visual shape for this one; only collision and dynamics\n main_body->createShapeNodeWith<dart::dynamics::CollisionAspect, dart::dynamics::DynamicsAspect>(box);\n\n // Put the body into position\n Eigen::Isometry3d new_tf = tf;\n new_tf.translate(Eigen::Vector3d(0., 0., -floor_height / 2.0));\n main_body->getParentJoint()->setTransformFromParentBodyNode(new_tf);\n\n // Add visual bodies just for visualization\n int step = std::ceil(floor_width / size);\n int c = 0;\n for (int i = 0; i < step; i++) {\n c = i;\n for (int j = 0; j < step; j++) {\n Eigen::Vector3d init_pose;\n init_pose << -floor_width / 2. + size / 2 + i * size, -floor_width / 2. + size / 2 + j * size, 0.;\n int id = i * step + j;\n\n dart::dynamics::WeldJoint::Properties properties;\n properties.mName = \"joint_\" + std::to_string(id);\n dart::dynamics::BodyNode::Properties bd_properties;\n bd_properties.mName = \"body_\" + std::to_string(id);\n dart::dynamics::BodyNodePtr body = main_body->createChildJointAndBodyNodePair<dart::dynamics::WeldJoint>(properties, bd_properties).second;\n\n auto box = std::make_shared<dart::dynamics::BoxShape>(Eigen::Vector3d(size, size, floor_height));\n // no collision/dynamics for these ones; only visual shape\n auto box_node = body->createShapeNodeWith<dart::dynamics::VisualAspect>(box);\n if (c % 2 == 0)\n box_node->getVisualAspect()->setColor(second_color);\n else\n box_node->getVisualAspect()->setColor(first_color);\n\n // Put the body into position\n Eigen::Isometry3d tf(Eigen::Isometry3d::Identity());\n tf.translation() = init_pose;\n body->getParentJoint()->setTransformFromParentBodyNode(tf);\n\n c++;\n }\n }\n\n auto floor_robot = std::make_shared<Robot>(main_floor_skel, floor_name);\n add_robot(floor_robot);\n return floor_robot;\n }\n\n void RobotDARTSimu::set_collision_detector(const std::string& collision_detector)\n {\n std::string coll = collision_detector;\n for (auto& c : coll)\n c = tolower(c);\n\n if (coll == \"dart\")\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::DARTCollisionDetector::create());\n else if (coll == \"fcl\")\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::FCLCollisionDetector::create());\n else if (coll == \"bullet\") {\n#if (HAVE_BULLET == 1)\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::BulletCollisionDetector::create());\n#else\n ROBOT_DART_WARNING(true, \"DART is not installed with Bullet! Cannot set BulletCollisionDetector!\");\n#endif\n }\n else if (coll == \"ode\") {\n#if (HAVE_ODE == 1)\n _world->getConstraintSolver()->setCollisionDetector(dart::collision::OdeCollisionDetector::create());\n#else\n ROBOT_DART_WARNING(true, \"DART is not installed with ODE! Cannot set OdeCollisionDetector!\");\n#endif\n }\n }\n\n const std::string& RobotDARTSimu::collision_detector() const { return _world->getConstraintSolver()->getCollisionDetector()->getType(); }\n\n void RobotDARTSimu::set_collision_masks(size_t robot_index, uint32_t category_mask, uint32_t collision_mask)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n coll_filter->add_to_map(_robots[robot_index]->skeleton(), collision_mask, category_mask);\n }\n\n void RobotDARTSimu::set_collision_masks(size_t robot_index, const std::string& body_name, uint32_t category_mask, uint32_t collision_mask)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, collision_mask, category_mask](dart::dynamics::ShapeNode* shape) { coll_filter->add_to_map(shape, collision_mask, category_mask); });\n#else\n for (auto& shape : bd->getShapeNodes())\n coll_filter->add_to_map(shape, collision_mask, category_mask);\n#endif\n }\n\n void RobotDARTSimu::set_collision_masks(size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, collision_mask, category_mask](dart::dynamics::ShapeNode* shape) { coll_filter->add_to_map(shape, collision_mask, category_mask); });\n#else\n for (auto& shape : bd->getShapeNodes())\n coll_filter->add_to_map(shape, collision_mask, category_mask);\n#endif\n }\n\n uint32_t RobotDARTSimu::collision_mask(size_t robot_index, const std::string& body_name)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0xffffffff);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) { mask &= coll_filter->mask(shape).collision_mask; });\n#else\n for (auto& shape : bd->getShapeNodes())\n mask &= coll_filter->mask(shape).collision_mask;\n#endif\n\n return mask;\n }\n\n uint32_t RobotDARTSimu::collision_mask(size_t robot_index, size_t body_index)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", 0xffffffff);\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) { mask &= coll_filter->mask(shape).collision_mask; });\n#else\n for (auto& shape : bd->getShapeNodes())\n mask &= coll_filter->mask(shape).collision_mask;\n#endif\n\n return mask;\n }\n\n uint32_t RobotDARTSimu::collision_category(size_t robot_index, const std::string& body_name)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", 0xffffffff);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) { mask &= coll_filter->mask(shape).category_mask; });\n#else\n for (auto& shape : bd->getShapeNodes())\n mask &= coll_filter->mask(shape).category_mask;\n#endif\n\n return mask;\n }\n\n uint32_t RobotDARTSimu::collision_category(size_t robot_index, size_t body_index)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", 0xffffffff);\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", 0xffffffff);\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n uint32_t mask = 0xffffffff;\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) { mask &= coll_filter->mask(shape).category_mask; });\n#else\n for (auto& shape : bd->getShapeNodes())\n mask &= coll_filter->mask(shape).category_mask;\n#endif\n\n return mask;\n }\n\n std::pair<uint32_t, uint32_t> RobotDARTSimu::collision_masks(size_t robot_index, const std::string& body_name)\n {\n std::pair<uint32_t, uint32_t> mask = {0xffffffff, 0xffffffff};\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", mask);\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", mask);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) {\n mask.first &= coll_filter->mask(shape).collision_mask;\n mask.second &= coll_filter->mask(shape).category_mask;\n });\n#else\n for (auto& shape : bd->getShapeNodes()) {\n mask.first &= coll_filter->mask(shape).collision_mask;\n mask.second &= coll_filter->mask(shape).category_mask;\n }\n#endif\n\n return mask;\n }\n\n std::pair<uint32_t, uint32_t> RobotDARTSimu::collision_masks(size_t robot_index, size_t body_index)\n {\n std::pair<uint32_t, uint32_t> mask = {0xffffffff, 0xffffffff};\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", mask);\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", mask);\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter, &mask](dart::dynamics::ShapeNode* shape) {\n mask.first &= coll_filter->mask(shape).collision_mask;\n mask.second &= coll_filter->mask(shape).category_mask;\n });\n#else\n for (auto& shape : bd->getShapeNodes()) {\n mask.first &= coll_filter->mask(shape).collision_mask;\n mask.second &= coll_filter->mask(shape).category_mask;\n }\n#endif\n\n return mask;\n }\n\n void RobotDARTSimu::remove_collision_masks(size_t robot_index)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n coll_filter->remove_from_map(_robots[robot_index]->skeleton());\n }\n\n void RobotDARTSimu::remove_collision_masks(size_t robot_index, const std::string& body_name)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto bd = _robots[robot_index]->skeleton()->getBodyNode(body_name);\n ROBOT_DART_ASSERT(bd != nullptr, \"BodyNode does not exist in skeleton!\", );\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter](dart::dynamics::ShapeNode* shape) { coll_filter->remove_from_map(shape); });\n#else\n for (auto& shape : bd->getShapeNodes())\n coll_filter->remove_from_map(shape);\n#endif\n }\n\n void RobotDARTSimu::remove_collision_masks(size_t robot_index, size_t body_index)\n {\n ROBOT_DART_ASSERT(robot_index < _robots.size(), \"Robot index out of bounds\", );\n auto skel = _robots[robot_index]->skeleton();\n ROBOT_DART_ASSERT(body_index < skel->getNumBodyNodes(), \"BodyNode index out of bounds\", );\n auto bd = skel->getBodyNode(body_index);\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n#if DART_VERSION_AT_LEAST(6, 13, 0)\n bd->eachShapeNode([coll_filter](dart::dynamics::ShapeNode* shape) { coll_filter->remove_from_map(shape); });\n#else\n for (auto& shape : bd->getShapeNodes())\n coll_filter->remove_from_map(shape);\n#endif\n }\n\n void RobotDARTSimu::remove_all_collision_masks()\n {\n auto coll_filter = std::static_pointer_cast<collision_filter::BitmaskContactFilter>(_world->getConstraintSolver()->getCollisionOption().collisionFilter);\n coll_filter->clear_all();\n }\n} // namespace robot_dart\nFileList > robot_dart > robot_dart_simu.hpp
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#include <robot_dart/gui/base.hpp>#include <robot_dart/robot.hpp>#include <robot_dart/scheduler.hpp>#include <robot_dart/sensor/sensor.hpp>The documentation for this class was generated from the following file robot_dart/robot_dart_simu.hpp
File List > robot_dart > robot_dart_simu.hpp
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#ifndef ROBOT_DART_SIMU_HPP\n#define ROBOT_DART_SIMU_HPP\n\n#include <robot_dart/gui/base.hpp>\n#include <robot_dart/robot.hpp>\n#include <robot_dart/scheduler.hpp>\n#include <robot_dart/sensor/sensor.hpp>\n\nnamespace robot_dart {\n namespace simu {\n struct GUIData;\n\n // We use the Abode Source Sans Pro font: https://github.com/adobe-fonts/source-sans-pro\n // This font is licensed under SIL Open Font License 1.1: https://github.com/adobe-fonts/source-sans-pro/blob/release/LICENSE.md\n struct TextData {\n std::string text;\n Eigen::Affine2d transformation;\n Eigen::Vector4d color;\n std::uint8_t alignment;\n bool draw_background;\n Eigen::Vector4d background_color;\n double font_size = 28.;\n };\n } // namespace simu\n\n class RobotDARTSimu {\n public:\n using robot_t = std::shared_ptr<Robot>;\n\n RobotDARTSimu(double timestep = 0.015);\n\n ~RobotDARTSimu();\n\n void run(double max_duration = 5.0, bool reset_commands = false, bool force_position_bounds = true);\n bool step_world(bool reset_commands = false, bool force_position_bounds = true);\n bool step(bool reset_commands = false, bool force_position_bounds = true);\n\n Scheduler& scheduler() { return _scheduler; }\n const Scheduler& scheduler() const { return _scheduler; }\n bool schedule(int freq) { return _scheduler(freq); }\n\n int physics_freq() const { return _physics_freq; }\n int control_freq() const { return _control_freq; }\n\n void set_control_freq(int frequency)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n frequency <= _physics_freq && \"Control frequency needs to be less than physics frequency\");\n _control_freq = frequency;\n }\n\n int graphics_freq() const { return _graphics_freq; }\n\n void set_graphics_freq(int frequency)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n frequency <= _physics_freq && \"Graphics frequency needs to be less than physics frequency\");\n _graphics_freq = frequency;\n _graphics->set_fps(_graphics_freq);\n }\n\n std::shared_ptr<gui::Base> graphics() const;\n void set_graphics(const std::shared_ptr<gui::Base>& graphics);\n\n dart::simulation::WorldPtr world();\n\n template <typename T, typename... Args>\n std::shared_ptr<T> add_sensor(Args&&... args)\n {\n add_sensor(std::make_shared<T>(std::forward<Args>(args)...));\n return std::static_pointer_cast<T>(_sensors.back());\n }\n\n void add_sensor(const std::shared_ptr<sensor::Sensor>& sensor);\n std::vector<std::shared_ptr<sensor::Sensor>> sensors() const;\n std::shared_ptr<sensor::Sensor> sensor(size_t index) const;\n\n void remove_sensor(const std::shared_ptr<sensor::Sensor>& sensor);\n void remove_sensor(size_t index);\n void remove_sensors(const std::string& type);\n void clear_sensors();\n\n double timestep() const;\n void set_timestep(double timestep, bool update_control_freq = true);\n\n Eigen::Vector3d gravity() const;\n void set_gravity(const Eigen::Vector3d& gravity);\n\n void stop_sim(bool disable = true);\n bool halted_sim() const;\n\n size_t num_robots() const;\n const std::vector<robot_t>& robots() const;\n robot_t robot(size_t index) const;\n int robot_index(const robot_t& robot) const;\n\n void add_robot(const robot_t& robot);\n void add_visual_robot(const robot_t& robot);\n void remove_robot(const robot_t& robot);\n void remove_robot(size_t index);\n void clear_robots();\n\n simu::GUIData* gui_data();\n\n void enable_text_panel(bool enable = true, double font_size = -1);\n std::string text_panel_text() const;\n void set_text_panel(const std::string& str);\n\n void enable_status_bar(bool enable = true, double font_size = -1);\n std::string status_bar_text() const;\n\n std::shared_ptr<simu::TextData> add_text(const std::string& text, const Eigen::Affine2d& tf = Eigen::Affine2d::Identity(), Eigen::Vector4d color = Eigen::Vector4d(1, 1, 1, 1), std::uint8_t alignment = 2 << 2, bool draw_bg = false, Eigen::Vector4d bg_color = Eigen::Vector4d(0, 0, 0, 0.75), double font_size = 28);\n\n std::shared_ptr<Robot> add_floor(double floor_width = 10.0, double floor_height = 0.1, const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity(), const std::string& floor_name = \"floor\");\n std::shared_ptr<Robot> add_checkerboard_floor(double floor_width = 10.0, double floor_height = 0.1, double size = 1., const Eigen::Isometry3d& tf = Eigen::Isometry3d::Identity(), const std::string& floor_name = \"checkerboard_floor\", const Eigen::Vector4d& first_color = dart::Color::White(1.), const Eigen::Vector4d& second_color = dart::Color::Gray(1.));\n\n void set_collision_detector(const std::string& collision_detector); // collision_detector can be \"DART\", \"FCL\", \"Ode\" or \"Bullet\" (case does not matter)\n const std::string& collision_detector() const;\n\n // Bitmask collision filtering\n void set_collision_masks(size_t robot_index, uint32_t category_mask, uint32_t collision_mask);\n void set_collision_masks(size_t robot_index, const std::string& body_name, uint32_t category_mask, uint32_t collision_mask);\n void set_collision_masks(size_t robot_index, size_t body_index, uint32_t category_mask, uint32_t collision_mask);\n\n uint32_t collision_mask(size_t robot_index, const std::string& body_name);\n uint32_t collision_mask(size_t robot_index, size_t body_index);\n\n uint32_t collision_category(size_t robot_index, const std::string& body_name);\n uint32_t collision_category(size_t robot_index, size_t body_index);\n\n std::pair<uint32_t, uint32_t> collision_masks(size_t robot_index, const std::string& body_name);\n std::pair<uint32_t, uint32_t> collision_masks(size_t robot_index, size_t body_index);\n\n void remove_collision_masks(size_t robot_index);\n void remove_collision_masks(size_t robot_index, const std::string& body_name);\n void remove_collision_masks(size_t robot_index, size_t body_index);\n\n void remove_all_collision_masks();\n\n protected:\n void _enable(std::shared_ptr<simu::TextData>& text, bool enable, double font_size);\n\n dart::simulation::WorldPtr _world;\n size_t _old_index;\n bool _break;\n\n std::vector<std::shared_ptr<sensor::Sensor>> _sensors;\n std::vector<robot_t> _robots;\n std::shared_ptr<gui::Base> _graphics;\n std::unique_ptr<simu::GUIData> _gui_data;\n std::shared_ptr<simu::TextData> _text_panel = nullptr;\n std::shared_ptr<simu::TextData> _status_bar = nullptr;\n\n Scheduler _scheduler;\n int _physics_freq = -1, _control_freq = -1, _graphics_freq = 40;\n };\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > robot_pool.cpp
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#include <robot_dart/robot_pool.hpp>The documentation for this class was generated from the following file robot_dart/robot_pool.cpp
File List > robot_dart > robot_pool.cpp
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#include <robot_dart/robot_pool.hpp>\n\nnamespace robot_dart {\n RobotPool::RobotPool(const std::function<std::shared_ptr<Robot>()>& robot_creator, size_t pool_size, bool verbose) : _robot_creator(robot_creator), _pool_size(pool_size), _verbose(verbose)\n {\n if (_verbose) {\n std::cout << \"Creating a pool of \" << pool_size << \" robots: \";\n std::cout.flush();\n }\n\n for (size_t i = 0; i < _pool_size; ++i) {\n if (_verbose) {\n std::cout << \"[\" << i << \"]\";\n std::cout.flush();\n }\n auto robot = robot_creator();\n _model_filename = robot->model_filename();\n _reset_robot(robot);\n _skeletons.push_back(robot->skeleton());\n }\n for (size_t i = 0; i < _pool_size; i++)\n _free.push_back(true);\n\n if (_verbose)\n std::cout << std::endl;\n }\n\n std::shared_ptr<Robot> RobotPool::get_robot(const std::string& name)\n {\n while (true) {\n std::lock_guard<std::mutex> lock(_skeleton_mutex);\n for (size_t i = 0; i < _pool_size; i++)\n if (_free[i]) {\n _free[i] = false;\n return std::make_shared<Robot>(_skeletons[i], name);\n }\n }\n }\n\n void RobotPool::free_robot(const std::shared_ptr<Robot>& robot)\n {\n std::lock_guard<std::mutex> lock(_skeleton_mutex);\n for (size_t i = 0; i < _pool_size; i++) {\n if (_skeletons[i] == robot->skeleton()) {\n _reset_robot(robot);\n _free[i] = true;\n break;\n }\n }\n }\n\n void RobotPool::_reset_robot(const std::shared_ptr<Robot>& robot)\n {\n robot->reset();\n }\n} // namespace robot_dart\nFileList > robot_dart > robot_pool.hpp
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#include <functional>#include <memory>#include <mutex>#include <vector>#include <robot_dart/robot.hpp>The documentation for this class was generated from the following file robot_dart/robot_pool.hpp
File List > robot_dart > robot_pool.hpp
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#ifndef ROBOT_DART_ROBOT_POOL\n#define ROBOT_DART_ROBOT_POOL\n\n#include <functional>\n#include <memory>\n#include <mutex>\n#include <vector>\n\n#include <robot_dart/robot.hpp>\n\nnamespace robot_dart {\n class RobotPool {\n public:\n using robot_creator_t = std::function<std::shared_ptr<Robot>()>;\n\n RobotPool(const robot_creator_t& robot_creator, size_t pool_size = 32, bool verbose = true);\n virtual ~RobotPool() {}\n\n RobotPool(const RobotPool&) = delete;\n void operator=(const RobotPool&) = delete;\n\n virtual std::shared_ptr<Robot> get_robot(const std::string& name = \"robot\");\n virtual void free_robot(const std::shared_ptr<Robot>& robot);\n\n const std::string& model_filename() const { return _model_filename; }\n\n protected:\n robot_creator_t _robot_creator;\n size_t _pool_size;\n bool _verbose;\n std::vector<dart::dynamics::SkeletonPtr> _skeletons;\n std::vector<bool> _free;\n std::mutex _skeleton_mutex;\n std::string _model_filename;\n\n virtual void _reset_robot(const std::shared_ptr<Robot>& robot);\n };\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > scheduler.cpp
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#include <robot_dart/scheduler.hpp>The documentation for this class was generated from the following file robot_dart/scheduler.cpp
File List > robot_dart > scheduler.cpp
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#include <robot_dart/scheduler.hpp>\n\nnamespace robot_dart {\n bool Scheduler::schedule(int frequency)\n {\n if (_max_frequency == -1) {\n _start_time = clock_t::now();\n _last_iteration_time = _start_time;\n }\n\n _max_frequency = std::max(_max_frequency, frequency);\n double period = std::round((1. / frequency) / _dt);\n\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(\n period >= 1. && \"Time-step is too big for required frequency.\");\n\n if (_current_step % int(period) == 0)\n return true;\n\n return false;\n }\n\n void Scheduler::reset(double dt, bool sync, double current_time, double real_time)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(dt > 0. && \"Time-step needs to be bigger than zero.\");\n\n _current_time = 0.;\n _real_time = 0.;\n _simu_start_time = current_time;\n _real_start_time = real_time;\n _current_step = 0;\n _max_frequency = -1;\n _average_it_duration = 0.;\n\n _dt = dt;\n _sync = sync;\n }\n\n double Scheduler::step()\n {\n _current_time += _dt;\n _current_step += 1;\n\n auto end = clock_t::now();\n _it_duration = std::chrono::duration<double, std::micro>(end - _last_iteration_time).count();\n _last_iteration_time = end;\n _average_it_duration = _average_it_duration + (_it_duration - _average_it_duration) / _current_step;\n std::chrono::duration<double, std::micro> real = end - _start_time;\n if (_sync) {\n auto expected = std::chrono::microseconds(int(_current_time * 1e6));\n std::chrono::duration<double, std::micro> adjust = expected - real;\n if (adjust.count() > 0)\n std::this_thread::sleep_for(adjust);\n }\n\n _real_time = real.count() * 1e-6;\n return _real_start_time + _real_time;\n }\n\n} // namespace robot_dart\nFileList > robot_dart > scheduler.hpp
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#include <robot_dart/utils.hpp>#include <chrono>#include <thread>The documentation for this class was generated from the following file robot_dart/scheduler.hpp
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#ifndef ROBOT_DART_SCHEDULER_HPP\n#define ROBOT_DART_SCHEDULER_HPP\n\n#include <robot_dart/utils.hpp>\n\n#include <chrono>\n#include <thread>\n\nnamespace robot_dart {\n class Scheduler {\n protected:\n using clock_t = std::chrono::high_resolution_clock;\n\n public:\n Scheduler(double dt, bool sync = false) : _dt(dt), _sync(sync)\n {\n ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(_dt > 0. && \"Time-step needs to be bigger than zero.\");\n }\n\n bool operator()(int frequency) { return schedule(frequency); };\n bool schedule(int frequency);\n\n double step();\n\n void reset(double dt, bool sync = false, double current_time = 0., double real_time = 0.);\n\n void set_sync(bool enable) { _sync = enable; }\n bool sync() const { return _sync; }\n\n double current_time() const { return _simu_start_time + _current_time; }\n double next_time() const { return _simu_start_time + _current_time + _dt; }\n double real_time() const { return _real_start_time + _real_time; }\n double dt() const { return _dt; }\n // 0.8x => we are simulating at 80% of real time\n double real_time_factor() const { return _dt / it_duration(); }\n // time for a single iteration (wall-clock)\n double it_duration() const { return _average_it_duration * 1e-6; }\n // time of the last iteration (wall-clock)\n double last_it_duration() const { return _it_duration * 1e-6; }\n\n protected:\n double _current_time = 0., _simu_start_time = 0., _real_time = 0., _real_start_time = 0., _it_duration = 0.;\n double _average_it_duration = 0.;\n double _dt;\n int _current_step = 0;\n bool _sync;\n int _max_frequency = -1;\n clock_t::time_point _start_time;\n clock_t::time_point _last_iteration_time;\n };\n} // namespace robot_dart\n\n#endif\nFileList > robot_dart > utils.hpp
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#include <exception>#include <iostream>#include <robot_dart/utils_headers_external.hpp>#define M_PIf static_cast<float>(M_PI)\n#define ROBOT_DART_ASSERT (\n condition,\n message,\n returnValue\n) do { \\\n if (!(condition)) { \\\n std::cerr << __LINE__ << \" \" << __FILE__ << \" -> robot_dart assertion failed: \" << message << std::endl; \\\n return returnValue; \\\n } \\\n } while (false)\n#define ROBOT_DART_EXCEPTION_ASSERT (\n condition,\n message\n) do { \\\n if (!(condition)) { \\\n throw robot_dart::Assertion (message); \\\n } \\\n } while (false)\n#define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT (\n condition\n) do { \\\n if (!(condition)) { \\\n throw robot_dart::Assertion (#condition); \\\n } \\\n } while (false)\n#define ROBOT_DART_INTERNAL_ASSERT (\n condition\n) do { \\\n if (!(condition)) { \\\n std::cerr << \"Assertion '\" << #condition << \"' failed in '\" << __FILE__ << \"' on line \" << __LINE__ << std::endl; \\\n std::abort(); \\\n } \\\n } while (false)\n#define ROBOT_DART_SHOW_WARNINGS true\n#define ROBOT_DART_UNUSED_VARIABLE (\n var\n) (void)(var)\n#define ROBOT_DART_WARNING (\n condition,\n message\n) if (ROBOT_DART_SHOW_WARNINGS && (condition)) { \\\n std::cerr << \"[robot_dart WARNING]: \\\"\" << message << \"\\\"\" << std::endl; \\\n }\nThe documentation for this class was generated from the following file robot_dart/utils.hpp
File List > robot_dart > utils.hpp
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#ifndef ROBOT_DART_UTILS_HPP\n#define ROBOT_DART_UTILS_HPP\n\n#include <exception>\n#include <iostream>\n\n#include <robot_dart/utils_headers_external.hpp>\n\n#ifndef ROBOT_DART_SHOW_WARNINGS\n#define ROBOT_DART_SHOW_WARNINGS true\n#endif\n\n#ifndef M_PIf\n#define M_PIf static_cast<float>(M_PI)\n#endif\n\nnamespace robot_dart {\n\n inline Eigen::VectorXd make_vector(std::initializer_list<double> args)\n {\n return Eigen::VectorXd::Map(args.begin(), args.size());\n }\n\n inline Eigen::Isometry3d make_tf(const Eigen::Matrix3d& R, const Eigen::Vector3d& t)\n {\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n tf.linear().matrix() = R;\n tf.translation() = t;\n\n return tf;\n }\n\n inline Eigen::Isometry3d make_tf(const Eigen::Matrix3d& R)\n {\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n tf.linear().matrix() = R;\n\n return tf;\n }\n\n inline Eigen::Isometry3d make_tf(const Eigen::Vector3d& t)\n {\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n tf.translation() = t;\n\n return tf;\n }\n\n inline Eigen::Isometry3d make_tf(std::initializer_list<double> args)\n {\n Eigen::Isometry3d tf = Eigen::Isometry3d::Identity();\n tf.translation() = make_vector(args);\n\n return tf;\n }\n\n class Assertion : public std::exception {\n public:\n Assertion(const std::string& msg = \"\") : _msg(_make_message(msg)) {}\n\n const char* what() const throw()\n {\n return _msg.c_str();\n }\n\n private:\n std::string _msg;\n\n std::string _make_message(const std::string& msg) const\n {\n std::string message = \"robot_dart assertion failed\";\n if (msg != \"\")\n message += \": '\" + msg + \"'\";\n return message;\n }\n };\n} // namespace robot_dart\n\n#define ROBOT_DART_UNUSED_VARIABLE(var) (void)(var)\n\n#define ROBOT_DART_WARNING(condition, message) \\\n if (ROBOT_DART_SHOW_WARNINGS && (condition)) { \\\n std::cerr << \"[robot_dart WARNING]: \\\"\" << message << \"\\\"\" << std::endl; \\\n }\n\n#define ROBOT_DART_ASSERT(condition, message, returnValue) \\\n do { \\\n if (!(condition)) { \\\n std::cerr << __LINE__ << \" \" << __FILE__ << \" -> robot_dart assertion failed: \" << message << std::endl; \\\n return returnValue; \\\n } \\\n } while (false)\n\n#define ROBOT_DART_EXCEPTION_ASSERT(condition, message) \\\n do { \\\n if (!(condition)) { \\\n throw robot_dart::Assertion(message); \\\n } \\\n } while (false)\n\n#define ROBOT_DART_INTERNAL_ASSERT(condition) \\\n do { \\\n if (!(condition)) { \\\n std::cerr << \"Assertion '\" << #condition << \"' failed in '\" << __FILE__ << \"' on line \" << __LINE__ << std::endl; \\\n std::abort(); \\\n } \\\n } while (false)\n\n#define ROBOT_DART_EXCEPTION_INTERNAL_ASSERT(condition) \\\n do { \\\n if (!(condition)) { \\\n throw robot_dart::Assertion(#condition); \\\n } \\\n } while (false)\n\n#endif\nFileList > robot_dart > utils_headers_dart_collision.hpp
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#include <dart/config.hpp>#include <dart/collision/CollisionFilter.hpp>#include <dart/collision/CollisionObject.hpp>#include <dart/collision/dart/DARTCollisionDetector.hpp>#include <dart/collision/fcl/FCLCollisionDetector.hpp>#include <dart/constraint/ConstraintSolver.hpp>The documentation for this class was generated from the following file robot_dart/utils_headers_dart_collision.hpp
File List > robot_dart > utils_headers_dart_collision.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_DART_COLLISION_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_COLLISION_HPP\n\n#pragma GCC system_header\n\n#include <dart/config.hpp>\n\n#include <dart/collision/CollisionFilter.hpp>\n#include <dart/collision/CollisionObject.hpp>\n#include <dart/collision/dart/DARTCollisionDetector.hpp>\n#include <dart/collision/fcl/FCLCollisionDetector.hpp>\n#include <dart/constraint/ConstraintSolver.hpp>\n\n#if (HAVE_BULLET == 1)\n#include <dart/collision/bullet/BulletCollisionDetector.hpp>\n#endif\n\n#if (HAVE_ODE == 1)\n#include <dart/collision/ode/OdeCollisionDetector.hpp>\n#endif\n\n#endif\nFileList > robot_dart > utils_headers_dart_dynamics.hpp
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#include <dart/dynamics/BallJoint.hpp>#include <dart/dynamics/BodyNode.hpp>#include <dart/dynamics/BoxShape.hpp>#include <dart/dynamics/DegreeOfFreedom.hpp>#include <dart/dynamics/EllipsoidShape.hpp>#include <dart/dynamics/EulerJoint.hpp>#include <dart/dynamics/FreeJoint.hpp>#include <dart/dynamics/MeshShape.hpp>#include <dart/dynamics/RevoluteJoint.hpp>#include <dart/dynamics/ShapeNode.hpp>#include <dart/dynamics/SoftBodyNode.hpp>#include <dart/dynamics/SoftMeshShape.hpp>#include <dart/dynamics/WeldJoint.hpp>The documentation for this class was generated from the following file robot_dart/utils_headers_dart_dynamics.hpp
File List > robot_dart > utils_headers_dart_dynamics.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_DART_DYNAMICS_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_DYNAMICS_HPP\n\n#pragma GCC system_header\n\n#include <dart/dynamics/BallJoint.hpp>\n#include <dart/dynamics/BodyNode.hpp>\n#include <dart/dynamics/BoxShape.hpp>\n#include <dart/dynamics/DegreeOfFreedom.hpp>\n#include <dart/dynamics/EllipsoidShape.hpp>\n#include <dart/dynamics/EulerJoint.hpp>\n#include <dart/dynamics/FreeJoint.hpp>\n#include <dart/dynamics/MeshShape.hpp>\n#include <dart/dynamics/RevoluteJoint.hpp>\n#include <dart/dynamics/ShapeNode.hpp>\n#include <dart/dynamics/SoftBodyNode.hpp>\n#include <dart/dynamics/SoftMeshShape.hpp>\n#include <dart/dynamics/WeldJoint.hpp>\n\n#endif\nFileList > robot_dart > utils_headers_dart_io.hpp
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#include <dart/config.hpp>#include <dart/utils/SkelParser.hpp>#include <dart/utils/sdf/SdfParser.hpp>#include <dart/utils/urdf/urdf.hpp>The documentation for this class was generated from the following file robot_dart/utils_headers_dart_io.hpp
File List > robot_dart > utils_headers_dart_io.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_DART_IO_HPP\n#define ROBOT_DART_UTILS_HEADERS_DART_IO_HPP\n\n#pragma GCC system_header\n\n#include <dart/config.hpp>\n\n#if DART_VERSION_AT_LEAST(7, 0, 0)\n#include <dart/io/SkelParser.hpp>\n#include <dart/io/sdf/SdfParser.hpp>\n#include <dart/io/urdf/urdf.hpp>\n#else\n#include <dart/utils/SkelParser.hpp>\n#include <dart/utils/sdf/SdfParser.hpp>\n#include <dart/utils/urdf/urdf.hpp>\n\n// namespace alias for compatibility\nnamespace dart {\n namespace io = utils;\n}\n#endif\n\n#endif\nFileList > robot_dart > utils_headers_external.hpp
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#include <Eigen/Core>#include <Eigen/Geometry>#include <dart/config.hpp>#include <dart/dynamics/MeshShape.hpp>#include <dart/dynamics/Skeleton.hpp>#include <dart/simulation/World.hpp>The documentation for this class was generated from the following file robot_dart/utils_headers_external.hpp
File List > robot_dart > utils_headers_external.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_EXTERNAL_HPP\n#define ROBOT_DART_UTILS_HEADERS_EXTERNAL_HPP\n\n#pragma GCC system_header\n\n#include <Eigen/Core>\n#include <Eigen/Geometry>\n\n#include <dart/config.hpp>\n#include <dart/dynamics/MeshShape.hpp>\n#include <dart/dynamics/Skeleton.hpp>\n#include <dart/simulation/World.hpp>\n\n#endif\nFileList > robot_dart > utils_headers_external_gui.hpp
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#include <robot_dart/utils_headers_external.hpp>#include <Magnum/DartIntegration/World.h>The documentation for this class was generated from the following file robot_dart/utils_headers_external_gui.hpp
File List > robot_dart > utils_headers_external_gui.hpp
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#ifndef ROBOT_DART_UTILS_HEADERS_EXTERNAL_GUI_HPP\n#define ROBOT_DART_UTILS_HEADERS_EXTERNAL_GUI_HPP\n\n#pragma GCC system_header\n\n#include <robot_dart/utils_headers_external.hpp>\n\n#include <Magnum/DartIntegration/World.h>\n\n#endif\nHere is a list of all namespaces with brief descriptions:
This inheritance list is sorted roughly, but not completely, alphabetically:
No modules found.
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