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.

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Detailed Description

See essence/joint_lib.py.