scitbx::rigid_body::joint_lib Namespace Reference

See essence/joint_lib.py. More...


Classes

struct  zero_dof_alignment
 See code. More...
struct  zero_dof
 Zero degree-of-freedom joint model. More...
struct  six_dof_alignment
 See code. More...
struct  six_dof
 Six degree-of-freedom joint model (see Featherstone RBDA 2007). More...
struct  spherical_alignment
 See code. More...
struct  spherical
 Spherical (three degrees of freedom) joint model (see Featherstone RBDA 2007). More...
struct  revolute_alignment
 See code. More...
struct  revolute
 Revolute (one degree of freedom) joint model (see Featherstone RBDA 2007). More...
struct  translational_alignment
 See code. More...
struct  translational
 Translational (three degrees of freedom) joint model (see Featherstone RBDA 2007). More...

Functions

template<typename FloatType>
mat3< FloatType > rbda_eq_4_12 (af::tiny< FloatType, 4 > const &q)
template<typename FloatType>
af::tiny< FloatType, 4 *3 > rbda_eq_4_13 (af::tiny< FloatType, 4 > const &q)
template<typename FloatType>
af::tiny< FloatType, 4 *4 > d_unit_quaternion_d_qe_matrix (af::tiny< FloatType, 4 > const &q)
 See essence/joint_lib.py.
template<typename FloatType>
rotr3< FloatType > six_dof_aja_simplified (vec3< FloatType > const &center_of_mass, af::const_ref< FloatType > const &q)
 Simplification of aja (featherstone.h) for six_dof_alignment and six_dof above.


Detailed Description

See essence/joint_lib.py.

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