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

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

Convert eigen iosmetry3d to ignition math pose3d.

Parameters
[in]_Teigen object to convert
Returns
Equvalent ignition math object.

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

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

Convert ignition quaternion to eigen quaternion.

Parameters
[in]_quatIgnition object.
Returns
Equivalent eigen object.

Referenced by DARTTypes::ConvPose().

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

Convert eigen quaternion to ignition quaternion.

Parameters
[in]_quatEigen object to convert.
Returns
Equivalent ignition object.

Referenced by DARTTypes::ConvPoseIgn().

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

Convert ignition math vector3d to eigen vector3d.

Parameters
[in]_vec3Ignition math equalivent object.
Returns
Eigen vector3 to convert.

Referenced by DARTTypes::ConvPose().

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

Convert eigen vector3d to ignition math vector3d.

Parameters
[in]_vec3Eigen vector3 to convert.
Returns
Ignition math equalivent object.

Referenced by DARTTypes::ConvPoseIgn().

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.