dart physics engine wrapper
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file | DARTTypes.hh |
| DART wrapper forward declarations and typedefs.
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static Eigen::Isometry3d | ConvPose (const ignition::math::Pose3d &_pose) |
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static ignition::math::Pose3d | ConvPoseIgn (const Eigen::Isometry3d &_T) |
| Convert eigen iosmetry3d to ignition math pose3d. More...
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static Eigen::Quaterniond | ConvQuat (const ignition::math::Quaterniond &_quat) |
| Convert ignition quaternion to eigen quaternion. More...
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static ignition::math::Quaterniond | ConvQuatIgn (const Eigen::Quaterniond &_quat) |
| Convert eigen quaternion to ignition quaternion. More...
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static Eigen::Vector3d | ConvVec3 (const ignition::math::Vector3d &_vec3) |
| Convert ignition math vector3d to eigen vector3d. More...
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static ignition::math::Vector3d | ConvVec3Ign (const Eigen::Vector3d &_vec3) |
| Convert eigen vector3d to ignition math vector3d. More...
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static double | InvertThreadPitch (double _pitch) |
| Invert thread pitch to match the different definitions of thread pitch in Gazebo and DART. More...
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dart physics engine wrapper
DART physics engine wrapper.
static Eigen::Isometry3d ConvPose |
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const ignition::math::Pose3d & |
_pose | ) |
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inlinestatic |
static ignition::math::Pose3d ConvPoseIgn |
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const Eigen::Isometry3d & |
_T | ) |
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inlinestatic |
static Eigen::Quaterniond ConvQuat |
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const ignition::math::Quaterniond & |
_quat | ) |
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inlinestatic |
Convert ignition quaternion to eigen quaternion.
- Parameters
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[in] | _quat | Ignition object. |
- Returns
- Equivalent eigen object.
Referenced by DARTTypes::ConvPose().
static ignition::math::Quaterniond ConvQuatIgn |
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const Eigen::Quaterniond & |
_quat | ) |
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inlinestatic |
Convert eigen quaternion to ignition quaternion.
- Parameters
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[in] | _quat | Eigen object to convert. |
- Returns
- Equivalent ignition object.
Referenced by DARTTypes::ConvPoseIgn().
static Eigen::Vector3d ConvVec3 |
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const ignition::math::Vector3d & |
_vec3 | ) |
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inlinestatic |
Convert ignition math vector3d to eigen vector3d.
- Parameters
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[in] | _vec3 | Ignition math equalivent object. |
- Returns
- Eigen vector3 to convert.
Referenced by DARTTypes::ConvPose().
static ignition::math::Vector3d ConvVec3Ign |
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const Eigen::Vector3d & |
_vec3 | ) |
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inlinestatic |
Convert eigen vector3d to ignition math vector3d.
- Parameters
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[in] | _vec3 | Eigen vector3 to convert. |
- Returns
- Ignition math equalivent object.
Referenced by DARTTypes::ConvPoseIgn().
static double InvertThreadPitch |
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double |
_pitch | ) |
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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.