CoRiBoDynamics Namespace Reference

Classes
class	CollisionManager
class	ConjugateGradientSolver
class	ConstraintCableInterface
class	ConstraintSet
class	ConstraintSolver
class	CoreBoundThreadPool
class	CoRiBoNet
class	Environment_Interface
class	EnvironmentForces
class	JointConstraint
class	LinearOperator
class	MatrixConnectome
class	ObjectFactoryStack
class	RigidElement
class	SparseMatrixBuilder
class	StandardRigidElement
class	TrawlCableCollisionManager
class	TrawlCableJointConstraint

Typedefs
typedef Eigen::Matrix< double, 3, 1 >	vec3
typedef Eigen::Matrix< double, 2, 1 >	vec2
typedef Eigen::Matrix< double, 4, 1 >	vec4
typedef Eigen::Matrix< double, 6, 1 >	vec6
typedef Eigen::Quaternion< double >	Quat
typedef Eigen::Matrix< double, 2, 2 >	mat2
typedef Eigen::Matrix< double, 3, 3 >	mat3
typedef Eigen::Matrix< double, 4, 4 >	mat4
typedef Eigen::Matrix< double, 6, 6 >	mat6
typedef Eigen::Matrix< double, 2, 4, Eigen::RowMajor >	mat24
typedef Eigen::Matrix< double, 3, 2, Eigen::RowMajor >	mat32
typedef Eigen::Matrix< double, 3, 4, Eigen::RowMajor >	mat34
typedef Eigen::Matrix< double, 3, 6, Eigen::RowMajor >	mat36
typedef Eigen::Matrix< double, 2, 3, Eigen::ColMajor >	mat23
typedef Eigen::Matrix< double, 4, 2, Eigen::ColMajor >	mat42
typedef Eigen::Matrix< double, 4, 3, Eigen::ColMajor >	mat43
typedef Eigen::Matrix< double, 6, 3, Eigen::ColMajor >	mat63
typedef Eigen::SparseMatrix< double, Eigen::ColMajor >	SparseMat
typedef Eigen::Matrix< double, Eigen::Dynamic, 1 >	Vector
typedef Eigen::SparseMatrix< double, Eigen::RowMajor >	SparseRowMat

Functions
double	structuralAverage (double a, double b)
Quat	ptrQ (const double *Q)
Quat	dblQ (double d)
	writes the quaternion from ptr in w,x,y,z order
void	Qptr (const Quat &Q, double *ptr)
	returns the (d,d,d,d) quaternion
void	V2ptr (const vec2 &V, double *ptr)
	writes the quaternion to ptr in w,x,y,z order
void	V3ptr (const vec3 &V, double *ptr)
	writes the vector to ptr
void	V4ptr (const vec4 &V, double *ptr)
	writes the vector to ptr
void	V6ptr (const vec6 &V, double *ptr)
	writes the vector to ptr
mat3	dyadicX (const vec3 &V)
	writes the vector to ptr
mat3	dyadicXX (const vec3 &V)
	returns the 3x3 skew-symmetric cross product matrix associated with the vector V
mat3	dyadicXaXb (const vec3 &Va, const vec3 &Vb)
	returns the square of the 3x3 skew-symmetric cross product matrix associated with the vector V
mat3	outer (const vec3 &V)
	returns the product of the two 3x3 skew-symmetric cross product matrices associated with the vectors Va and Vb
mat3	outer (const vec3 &Va, const vec3 &Vb)
	returns the outer product (V * V^T) of the vector V
void	RotateDiagonalMatrix (const mat3 &R, const vec6 &D, mat6 &M)
	returns the outer product (Va * Vb^T) of the vectors Va and Vb
void	TranslateRotateDiagonalMatrix (const mat3 &R, const vec3 &r, const vec6 &D, mat6 &M)
	Rotates the given diagonal matrix D, by the rotation matrix R. Writes result to M, but assumes that the two 3x3-offdiagonal block are already set to zero.
Quat	BasicRotationX (double angle)
	local space origo translation and rotation of the given inertia matrix
Quat	BasicRotationY (double angle)
Quat	BasicRotationZ (double angle)
bool	is_qNaN (double v)

Detailed Description

Author

Jorgen Haavind Jensen