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

§ ConvPose() [2/2]

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

§ ConvQuat() [1/2]

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

§ 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.