Uses of Class
us.ihmc.utilities.screwTheory.RigidBody

Packages that use RigidBody
com.yobotics.simulationconstructionset   
com.yobotics.simulationconstructionset.graphics   
com.yobotics.simulationconstructionset.simulatedSensors   
com.yobotics.simulationconstructionset.util.trajectory   
us.ihmc.utilities   
us.ihmc.utilities.math.geometry   
us.ihmc.utilities.remote.serialization   
us.ihmc.utilities.screwTheory   
 

Uses of RigidBody in com.yobotics.simulationconstructionset
 

Constructors in com.yobotics.simulationconstructionset with parameters of type RigidBody
InverseDynamicsMechanismReferenceFrameVisualizer(RigidBody rootBody, DynamicGraphicObjectsListRegistry dynamicGraphicObjectsListRegistry, double length)
           
 

Uses of RigidBody in com.yobotics.simulationconstructionset.graphics
 

Constructors in com.yobotics.simulationconstructionset.graphics with parameters of type RigidBody
GraphicsRobot(java.lang.String name, RigidBody rootBody, GraphicsObjectsHolder graphicsObjectsHolder)
           
GraphicsRobot(java.lang.String name, RigidBody rootBody, GraphicsObjectsHolder graphicsObjectsHolder, boolean useCollisionMeshes)
           
 

Uses of RigidBody in com.yobotics.simulationconstructionset.simulatedSensors
 

Methods in com.yobotics.simulationconstructionset.simulatedSensors that return RigidBody
 RigidBody SimulatedSensorsTestFullRobotModel.getBodyLink()
           
 RigidBody SimulatedSensorsTestFullRobotModel.getElevator()
           
 

Constructors in com.yobotics.simulationconstructionset.simulatedSensors with parameters of type RigidBody
PerfectSimulatedIMURawSensorReader(RawIMUSensorsInterface rawSensors, int imuIndex, RigidBody rigidBody, ReferenceFrame imuFrame, RigidBody rootBody, SpatialAccelerationVector rootAcceleration)
           
SimulatedIMURawSensorReader(RawIMUSensorsInterface rawSensors, int imuIndex, RigidBody rigidBody, ReferenceFrame imuFrame, RigidBody rootBody, SpatialAccelerationVector rootAcceleration)
           
SimulatedMotionNodeIMURawSensorReader(RawIMUSensorsInterface rawSensors, int imuIndex, RigidBody rigidBody, ReferenceFrame imuFrame, RigidBody rootBody, SpatialAccelerationVector rootAcceleration, javax.vecmath.Matrix3d imuMountingOffset, double localGravityPositiveZ)
           
 

Uses of RigidBody in com.yobotics.simulationconstructionset.util.trajectory
 

Constructors in com.yobotics.simulationconstructionset.util.trajectory with parameters of type RigidBody
CurrentLinearVelocityProvider(ReferenceFrame referenceFrame, RigidBody rigidBody, TwistCalculator twistCalculator)
           
 

Uses of RigidBody in us.ihmc.utilities
 

Methods in us.ihmc.utilities that return RigidBody
 RigidBody IMUDefinition.getRigidBody()
           
 

Constructors in us.ihmc.utilities with parameters of type RigidBody
IMUDefinition(java.lang.String name, RigidBody rigidBody, javax.media.j3d.Transform3D transformFromIMUToJoint)
           
 

Uses of RigidBody in us.ihmc.utilities.math.geometry
 

Constructors in us.ihmc.utilities.math.geometry with parameters of type RigidBody
CenterOfMassReferenceFrame(java.lang.String frameName, ReferenceFrame parentFrame, RigidBody rootBody)
           
 

Uses of RigidBody in us.ihmc.utilities.remote.serialization
 

Constructors in us.ihmc.utilities.remote.serialization with parameters of type RigidBody
JointConfigurationDataReceiver(RigidBody rootBody)
           
JointConfigurationDataSender(RigidBody rootBody)
           
 

Uses of RigidBody in us.ihmc.utilities.screwTheory
 

Methods in us.ihmc.utilities.screwTheory that return RigidBody
static RigidBody ScrewTestTools.addRandomRigidBody(java.lang.String name, java.util.Random random, InverseDynamicsJoint joint)
           
static RigidBody ScrewTools.addRigidBody(java.lang.String name, InverseDynamicsJoint parentJoint, javax.vecmath.Matrix3d momentOfInertia, double mass, javax.vecmath.Vector3d centerOfMassOffset)
           
static RigidBody[] ScrewTools.computeConnectedBodies(InverseDynamicsJoint[] joints, boolean includeRoot)
           
static RigidBody[] ScrewTools.computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint)
          Deprecated. 
static RigidBody[] ScrewTools.computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint, java.util.Set<RigidBody> excludeSubTrees)
          Deprecated. 
static RigidBody[] ScrewTools.computeRigidBodiesInOrder(RigidBody rootBody, java.util.Set<RigidBody> excludeSubTrees)
          Deprecated. 
static RigidBody[] ScrewTools.computeSuccessors(InverseDynamicsJoint[] joints)
           
static RigidBody[] ScrewTools.computeSupportAndSubtreeSuccessors(RigidBody... bodies)
           
static RigidBody[] ScrewTools.findRigidBodiesWithNames(RigidBody[] allBodies, java.lang.String... names)
           
 RigidBody GeometricJacobian.getBase()
           
 RigidBody ScrewTestTools.RandomFloatingChain.getElevator()
           
 RigidBody GeometricJacobian.getEndEffector()
           
 RigidBody ScrewTestTools.RandomFloatingChain.getLeafBody()
           
 RigidBody InverseDynamicsJoint.getPredecessor()
           
 RigidBody AbstractInverseDynamicsJoint.getPredecessor()
           
 RigidBody TwistCalculator.getRootBody()
           
 RigidBody SpatialAccelerationCalculator.getRootBody()
           
static RigidBody ScrewTools.getRootBody(RigidBody body)
           
 RigidBody InverseDynamicsJoint.getSuccessor()
           
 RigidBody AbstractInverseDynamicsJoint.getSuccessor()
           
 

Methods in us.ihmc.utilities.screwTheory with parameters of type RigidBody
 void OriginalDynamicallyConsistentNullspaceCalculator.addConstraint(RigidBody body, org.ejml.data.DenseMatrix64F selectionMatrix)
           
 void DynamicallyConsistentNullspaceCalculator.addConstraint(RigidBody body, org.ejml.data.DenseMatrix64F selectionMatrix)
           
 void ConstrainedCentroidalMomentumMatrixCalculator.addConstraint(RigidBody body, org.ejml.data.DenseMatrix64F selectionMatrix)
           
 void ConstrainedCenterOfMassJacobianCalculator.addConstraint(RigidBody body, org.ejml.data.DenseMatrix64F selectionMatrix)
           
static PrismaticJoint ScrewTools.addPrismaticJoint(java.lang.String jointName, RigidBody parentBody, javax.media.j3d.Transform3D transformToParent, javax.vecmath.Vector3d jointAxis)
           
static PrismaticJoint ScrewTools.addPrismaticJoint(java.lang.String jointName, RigidBody parentBody, javax.vecmath.Vector3d jointOffset, javax.vecmath.Vector3d jointAxis)
           
static RevoluteJoint ScrewTools.addRevoluteJoint(java.lang.String jointName, RigidBody parentBody, javax.media.j3d.Transform3D transformToParent, javax.vecmath.Vector3d jointAxis)
           
static RevoluteJoint ScrewTools.addRevoluteJoint(java.lang.String jointName, RigidBody parentBody, javax.vecmath.Vector3d jointOffset, javax.vecmath.Vector3d jointAxis)
           
static FrameVector CenterOfMassJacobianTest.computeCenterOfMassVelocityNumerically(SixDoFJoint sixDoFJoint, java.util.ArrayList<RevoluteJoint> revoluteJoints, RigidBody rootBody, RigidBody[] rigidBodiesToUse, ReferenceFrame referenceFrame)
           
static FrameVector CenterOfMassJacobianTest.computeCenterOfMassVelocityNumerically(SixDoFJoint sixDoFJoint, java.util.ArrayList<RevoluteJoint> revoluteJoints, RigidBody rootBody, RigidBody[] rigidBodiesToUse, ReferenceFrame referenceFrame)
           
static Momentum CentroidalMomentumMatrixTest.computeCoMMomentum(RigidBody elevator, ReferenceFrame centerOfMassFrame, CentroidalMomentumMatrix centroidalMomentumMatrix)
           
static int ScrewTools.computeDistanceToAncestor(RigidBody descendant, RigidBody ancestor)
           
static InverseDynamicsJoint[] ScrewTools.computeJointsInOrder(RigidBody rootBody)
          Deprecated. 
static InverseDynamicsJoint[] ScrewTools.computeJointsInOrder(RigidBody rootBody, java.util.Set<InverseDynamicsJoint> excludeSubTrees)
          Deprecated. 
static double TotalMassCalculator.computeMass(RigidBody[] rigidBodies)
           
static RigidBody[] ScrewTools.computeRigidBodiesInOrder(RigidBody rootBody, java.util.Set<RigidBody> excludeSubTrees)
          Deprecated. 
static InverseDynamicsJoint[] ScrewTools.computeSubtreeJoints(RigidBody... rootBodies)
           
static double TotalMassCalculator.computeSubTreeMass(RigidBody rootBody)
           
static InverseDynamicsJoint[] ScrewTools.computeSupportAndSubtreeJoints(RigidBody... bodies)
           
static RigidBody[] ScrewTools.computeSupportAndSubtreeSuccessors(RigidBody... bodies)
           
static InverseDynamicsJoint[] ScrewTools.computeSupportJoints(RigidBody... bodies)
           
static SpatialAccelerationVector ScrewTools.createGravitationalSpatialAcceleration(RigidBody rootBody, double gravity)
           
static InverseDynamicsJoint[] ScrewTools.createJointPath(RigidBody start, RigidBody end)
           
static int[] ScrewTools.createParentMap(RigidBody[] rigidBodiesInOrder)
           
static void ScrewTestTools.createRandomChainRobot(java.lang.String prefix, java.util.List<RevoluteJoint> joints, RigidBody rootBody, javax.vecmath.Vector3d[] jointAxes, java.util.Random random)
           
static double TotalMassCalculatorTest.createRandomRigidBodyTreeAndReturnTotalMass(ReferenceFrame worldFrame, RigidBody elevator, int numberOfJoints, java.util.Random random)
           
static void ScrewTestTools.createRandomTreeRobot(java.util.List<RevoluteJoint> joints, RigidBody rootBody, int numberOfJoints, java.util.Random random)
           
static void InverseDynamicsCalculatorTest.createRandomTreeRobotAndSetJointPositionsAndVelocities(Robot robot, java.util.HashMap<RevoluteJoint,PinJoint> jointMap, ReferenceFrame worldFrame, RigidBody elevator, int numberOfJoints, double gravity, boolean useRandomVelocity, boolean useRandomAcceleration, java.util.Random random)
           
static RigidBody[] ScrewTools.findRigidBodiesWithNames(RigidBody[] allBodies, java.lang.String... names)
           
static RigidBody ScrewTools.getRootBody(RigidBody body)
           
static boolean ScrewTools.isAncestor(RigidBody candidateDescendant, RigidBody ancestor)
           
 void SpatialAccelerationCalculator.packAccelerationOfBody(SpatialAccelerationVector spatialAccelerationToPack, RigidBody rigidBody)
           
 void SpatialAccelerationCalculator.packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack, RigidBody body, FramePoint bodyFixedPoint)
           
 void SpatialAccelerationCalculator.packLinearAccelerationOfBodyFixedPoint(FrameVector linearAccelerationToPack, RigidBody base, RigidBody body, FramePoint bodyFixedPoint)
           
 void SpatialAccelerationCalculator.packRelativeAcceleration(SpatialAccelerationVector endEffectorAcceleration, RigidBody base, RigidBody body)
           
 void TwistCalculator.packRelativeTwist(Twist twistToPack, RigidBody base, RigidBody body)
           
 void TwistCalculator.packTwistOfBody(Twist twistToPack, RigidBody rigidBody)
           
 void InverseDynamicsCalculator.setExternalWrench(RigidBody rigidBody, Wrench externalWrench)
           
 void SphericalJoint.setSuccessor(RigidBody successor)
           
 void SixDoFJoint.setSuccessor(RigidBody successor)
           
 void RevoluteJoint.setSuccessor(RigidBody successor)
           
 void PrismaticJoint.setSuccessor(RigidBody successor)
           
 void PlanarJoint.setSuccessor(RigidBody successor)
           
 void InverseDynamicsJoint.setSuccessor(RigidBody successor)
           
 

Method parameters in us.ihmc.utilities.screwTheory with type arguments of type RigidBody
static void ScrewTools.addExternalWrenches(java.util.Map<RigidBody,Wrench> externalWrenches, java.util.Map<RigidBody,Wrench> wrenchMapToAdd)
           
static void ScrewTools.addExternalWrenches(java.util.Map<RigidBody,Wrench> externalWrenches, java.util.Map<RigidBody,Wrench> wrenchMapToAdd)
           
static double TotalMassCalculator.computeMass(java.lang.Iterable<RigidBody> rigidBodies)
           
static RigidBody[] ScrewTools.computeRigidBodiesInOrder(InverseDynamicsJoint rootJoint, java.util.Set<RigidBody> excludeSubTrees)
          Deprecated. 
static RigidBody[] ScrewTools.computeRigidBodiesInOrder(RigidBody rootBody, java.util.Set<RigidBody> excludeSubTrees)
          Deprecated. 
 

Constructors in us.ihmc.utilities.screwTheory with parameters of type RigidBody
AbstractInverseDynamicsCopier(RigidBody originalBody, RigidBody targetBody)
           
AbstractInverseDynamicsJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame)
           
AfterJointReferenceFrameNameMap(RigidBody base)
           
CenterOfMassAccelerationCalculator(RigidBody base, RigidBody[] rigidBodies, SpatialAccelerationCalculator spatialAccelerationCalculator)
           
CenterOfMassAccelerationCalculator(RigidBody base, RigidBody[] rigidBodies, SpatialAccelerationCalculator spatialAccelerationCalculator)
           
CenterOfMassAccelerationCalculator(RigidBody rootBody, SpatialAccelerationCalculator spatialAccelerationCalculator)
           
CenterOfMassCalculator(RigidBody[] rigidBodies, ReferenceFrame desiredFrame)
           
CenterOfMassCalculator(RigidBody rootBody, ReferenceFrame desiredFrame)
           
CenterOfMassJacobian(RigidBody rootBody)
           
CenterOfMassJacobian(RigidBody[] rigidBodies, InverseDynamicsJoint[] joints, ReferenceFrame rootFrame)
           
CenterOfMassJacobian(RigidBody[] rigidBodies, ReferenceFrame rootFrame)
           
CentroidalMomentumMatrix(RigidBody rootBody, ReferenceFrame centerOfMassFrame)
           
CompositeRigidBodyMassMatrixCalculator(RigidBody rootBody)
           
DifferentialIDMassMatrixCalculator(ReferenceFrame inertialFrame, RigidBody rootBody)
           
GeometricJacobian(RigidBody ancestor, RigidBody descendant, ReferenceFrame jacobianFrame)
           
InverseDynamicsJointDesiredAccelerationCopier(RigidBody originalBody, RigidBody targetBody)
           
InverseDynamicsJointStateCopier(RigidBody originalBody, RigidBody targetBody)
           
InverseDynamicsMechanismExplorer(RigidBody rootbody)
           
OneDoFJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame, OneDoFJointReferenceFrame afterJointFrame)
           
OneDoFJoint(java.lang.String name, RigidBody predecessor, RigidBody successor, ReferenceFrame beforeJointFrame, OneDoFJointReferenceFrame afterJointFrame, FrameVector jointAxis)
           
PlanarJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame)
           
PrismaticJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame, FrameVector jointAxis)
           
RevoluteJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame, FrameVector jointAxis)
           
SixDoFJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame)
           
SpatialAccelerationCalculator(RigidBody body, ReferenceFrame inertialFrame, SpatialAccelerationVector rootAcceleration, TwistCalculator twistCalculator, boolean doVelocityTerms, boolean useDesireds)
           
SpatialAccelerationCalculator(RigidBody rootBody, TwistCalculator twistCalculator, double gravity, boolean useDesireds)
           
SphericalJoint(java.lang.String name, RigidBody predecessor, ReferenceFrame beforeJointFrame)
           
ThreeDoFAngularAccelerationCalculator(RigidBody base, RigidBody endEffector)
           
TwistCalculator(ReferenceFrame inertialFrame, RigidBody body)
           
 

Constructor parameters in us.ihmc.utilities.screwTheory with type arguments of type RigidBody
InverseDynamicsCalculator(ReferenceFrame inertialFrame, java.util.HashMap<RigidBody,Wrench> externalWrenches, java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore, SpatialAccelerationCalculator spatialAccelerationCalculator, TwistCalculator twistCalculator)
           
InverseDynamicsCalculator(ReferenceFrame inertialFrame, SpatialAccelerationVector rootAcceleration, java.util.HashMap<RigidBody,Wrench> externalWrenches, java.util.ArrayList<InverseDynamicsJoint> jointsToIgnore, boolean doVelocityTerms, boolean doAcceleration, TwistCalculator twistCalculator)