##

Dart Physics
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

## ConvPose()

static Eigen::Isometry3d ConvPose | ( | const ignition::math::Pose3d & | _pose | ) |

inline static

References DARTTypes::ConvQuat(), and DARTTypes::ConvVec3().

## ConvPoseIgn()

static ignition::math::Pose3d ConvPoseIgn | ( | const Eigen::Isometry3d & | _T | ) |

inline static

Convert eigen iosmetry3d to ignition math pose3d.

Parameters

  [in] | _T | eigen object to convert

Returns
  Equvalent ignition math object.

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

## ConvQuat()

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

inline static

Convert ignition quaternion to eigen quaternion.

Parameters

  [in] | _quat | Ignition object.

Returns
  Equivalent eigen object.

Referenced by DARTTypes::ConvPose().

## ConvQuatIgn()

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

inline static

Convert eigen quaternion to ignition quaternion.

Parameters

  [in] | _quat | Eigen object to convert.

Returns
  Equivalent ignition object.

Referenced by DARTTypes::ConvPoseIgn().

## ConvVec3()

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

inline static

Convert ignition math vector3d to eigen vector3d.

Parameters

  [in] | _vec3 | Ignition math equalivent object.

Returns
  Eigen vector3 to convert.

Referenced by DARTTypes::ConvPose().

## ConvVec3Ign()

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

inline static

Convert eigen vector3d to ignition math vector3d.

Parameters

  [in] | _vec3 | Eigen vector3 to convert.

Returns
  Ignition math equalivent object.

Referenced by DARTTypes::ConvPoseIgn().

## InvertThreadPitch()

static double InvertThreadPitch | ( | double | _pitch | ) |

inline static

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.