Dart Physics

dart physics engine wrapper More...

Files
file	DARTTypes.hh
	DART wrapper forward declarations and typedefs.

Classes
class	DARTBallJoint
	An DARTBallJoint. More...
class	DARTBoxShape
	DART Box shape. More...
class	DARTCollision
	Base class for all DART collisions. More...
class	DARTCylinderShape
	DART cylinder shape. More...
class	DARTFixedJoint
	A single axis hinge joint. More...
class	DARTHeightmapShape
	DART Height map collision. More...
class	DARTHinge2Joint
	A two axis hinge joint. More...
class	DARTHingeJoint
	A single axis hinge joint. More...
class	DARTJoint
	DART joint interface. More...
class	DARTLink
	DART Link class. More...
class	DARTMesh
	Triangle mesh collision helper class. More...
class	DARTMeshShape
	Triangle mesh collision. More...
class	DARTModel
	DART model class. More...
class	DARTMultiRayShape
	DART specific version of MultiRayShape. More...
class	DARTPhysics
	DART physics engine. More...
class	DARTPlaneShape
	An DART Plane shape. More...
class	DARTPolylineShape
	DART polyline shape. More...
class	DARTRayShape
	Ray collision. More...
class	DARTScrewJoint
	A screw joint. More...
class	DARTSliderJoint
	A slider joint. More...
class	DARTSphereShape
	A DART sphere shape. More...
class	DARTSurfaceParams
	DART surface parameters. More...
class	DARTTypes
	A set of functions for converting between the math types used by gazebo and dart. More...
class	DARTUniversalJoint
	A universal joint. More...

Functions
static Eigen::Isometry3d	ConvPose (const math::Pose &_pose)
static math::Pose	ConvPose (const Eigen::Isometry3d &_T)
static Eigen::Quaterniond	ConvQuat (const math::Quaternion &_quat)
static math::Quaternion	ConvQuat (const Eigen::Quaterniond &_quat)
static Eigen::Vector3d	ConvVec3 (const math::Vector3 &_vec3)
static math::Vector3	ConvVec3 (const Eigen::Vector3d &_vec3)
static double	InvertThreadPitch (double _pitch)
	Invert thread pitch to match the different definitions of thread pitch in Gazebo and DART. More...

Detailed Description

dart physics engine wrapper

DART physics engine wrapper.

Function Documentation

ConvPose() [1/2]

static Eigen::Isometry3d ConvPose ( const math::Pose &  _pose )

inlinestatic

References DARTTypes::ConvQuat(), DARTTypes::ConvVec3(), Pose::pos, and Pose::rot.

ConvPose() [2/2]

static math::Pose ConvPose ( const Eigen::Isometry3d &  _T )

inlinestatic

References DARTTypes::ConvQuat(), DARTTypes::ConvVec3(), Pose::pos, and Pose::rot.

ConvQuat() [1/2]

static Eigen::Quaterniond ConvQuat ( const math::Quaternion &  _quat )

inlinestatic

References Quaternion::w, Quaternion::x, Quaternion::y, and Quaternion::z.

Referenced by DARTTypes::ConvPose().

ConvQuat() [2/2]

static math::Quaternion ConvQuat ( const Eigen::Quaterniond &  _quat )

inlinestatic

ConvVec3() [1/2]

static Eigen::Vector3d ConvVec3 ( const math::Vector3 &  _vec3 )

inlinestatic

References Vector3::x, Vector3::y, and Vector3::z.

Referenced by DARTTypes::ConvPose().

ConvVec3() [2/2]

static math::Vector3 ConvVec3 ( const Eigen::Vector3d &  _vec3 )

inlinestatic

InvertThreadPitch()

static double InvertThreadPitch ( double  _pitch )

inlinestatic

Invert thread pitch to match the different definitions of thread pitch in Gazebo and DART.

[Definitions of thread pitch] Gazebo: NEGATIVE angular motion per linear motion. DART : linear motion per single rotation.

References GZ_ASSERT.