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 ignition::math::Pose3d &_pose)
static ignition::math::Pose3d	ConvPoseIgn (const Eigen::Isometry3d &_T)
	Convert eigen iosmetry3d to ignition math pose3d. More...
static Eigen::Quaterniond	ConvQuat (const ignition::math::Quaterniond &_quat)
	Convert ignition quaternion to eigen quaternion. More...
static ignition::math::Quaterniond	ConvQuatIgn (const Eigen::Quaterniond &_quat)
	Convert eigen quaternion to ignition quaternion. More...
static Eigen::Vector3d	ConvVec3 (const ignition::math::Vector3d &_vec3)
	Convert ignition math vector3d to eigen vector3d. More...
static ignition::math::Vector3d	ConvVec3Ign (const Eigen::Vector3d &_vec3)
	Convert eigen vector3d to ignition math vector3d. More...
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()

static Eigen::Isometry3d ConvPose ( const ignition::math::Pose3d &  _pose )

inlinestatic

References DARTTypes::ConvQuat(), and DARTTypes::ConvVec3().

ConvPoseIgn()

static ignition::math::Pose3d ConvPoseIgn ( const Eigen::Isometry3d &  _T )

inlinestatic

Convert eigen iosmetry3d to ignition math pose3d.

Parameters

[in]

_T

eigen object to convert

Returns

Equvalent ignition math object.

References DARTTypes::ConvQuatIgn(), and DARTTypes::ConvVec3Ign().

ConvQuat()

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

inlinestatic

Convert ignition quaternion to eigen quaternion.

Parameters

[in]

_quat

Ignition object.

Returns

Equivalent eigen object.

Referenced by DARTTypes::ConvPose().

ConvQuatIgn()

static ignition::math::Quaterniond ConvQuatIgn ( const Eigen::Quaterniond &  _quat )

inlinestatic

Convert eigen quaternion to ignition quaternion.

Parameters

[in]

_quat

Eigen object to convert.

Returns

Equivalent ignition object.

Referenced by DARTTypes::ConvPoseIgn().

ConvVec3()

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

inlinestatic

Convert ignition math vector3d to eigen vector3d.

Parameters

[in]

_vec3

Ignition math equalivent object.

Returns

Eigen vector3 to convert.

Referenced by DARTTypes::ConvPose().

ConvVec3Ign()

static ignition::math::Vector3d ConvVec3Ign ( const Eigen::Vector3d &  _vec3 )

inlinestatic

Convert eigen vector3d to ignition math vector3d.

Parameters

[in]

_vec3

Eigen vector3 to convert.

Returns

Ignition math equalivent object.

Referenced by DARTTypes::ConvPoseIgn().

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.