dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

include/dart/dynamics/ZeroDofJoint.hpp

@@ -0,0 +1,562 @@
+/*
+ * Copyright (c) 2011-2025, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef DART_DYNAMICS_ZERODOFJOINT_HPP_
+#define DART_DYNAMICS_ZERODOFJOINT_HPP_
+
+#include <dart/dynamics/Joint.hpp>
+
+#include <string>
+
+namespace dart {
+namespace dynamics {
+
+class BodyNode;
+class Skeleton;
+
+/// class ZeroDofJoint
+class ZeroDofJoint : public Joint
+{
+public:
+  struct Properties : Joint::Properties
+  {
+    Properties(const Joint::Properties& _properties = Joint::Properties());
+    virtual ~Properties() = default;
+  };
+
+  ZeroDofJoint(const ZeroDofJoint&) = delete;
+
+  /// Destructor
+  virtual ~ZeroDofJoint();
+
+  /// Get the Properties of this ZeroDofJoint
+  Properties getZeroDofJointProperties() const;
+
+  //----------------------------------------------------------------------------
+  // Interface for generalized coordinates
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  DegreeOfFreedom* getDof(std::size_t) override;
+
+  // Documentation inherited
+  const DegreeOfFreedom* getDof(std::size_t) const override;
+
+  // Documentation inherited
+  const std::string& setDofName(std::size_t, const std::string&, bool) override;
+
+  // Documentation inherited
+  void preserveDofName(std::size_t, bool) override;
+
+  // Documentation inherited
+  bool isDofNamePreserved(std::size_t) const override;
+
+  const std::string& getDofName(std::size_t) const override;
+
+  // Documentation inherited
+  std::size_t getNumDofs() const override;
+
+  // Documentation inherited
+  std::size_t getIndexInSkeleton(std::size_t _index) const override;
+
+  // Documentation inherited
+  std::size_t getIndexInTree(std::size_t _index) const override;
+
+  //----------------------------------------------------------------------------
+  // Command
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setCommand(std::size_t _index, double _command) override;
+
+  // Documentation inherited
+  double getCommand(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setCommands(const Eigen::VectorXd& _commands) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getCommands() const override;
+
+  // Documentation inherited
+  void resetCommands() override;
+
+  //----------------------------------------------------------------------------
+  // Position
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setPosition(std::size_t, double) override;
+
+  // Documentation inherited
+  double getPosition(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setPositions(const Eigen::VectorXd& _positions) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositions() const override;
+
+  // Documentation inherited
+  void setPositionLowerLimit(std::size_t _index, double _position) override;
+
+  // Documentation inherited
+  double getPositionLowerLimit(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setPositionLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositionLowerLimits() const override;
+
+  // Documentation inherited
+  void setPositionUpperLimit(std::size_t index, double position) override;
+
+  // Documentation inherited
+  double getPositionUpperLimit(std::size_t index) const override;
+
+  // Documentation inherited
+  void setPositionUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositionUpperLimits() const override;
+
+  // Documentation inherited
+  bool hasPositionLimit(std::size_t _index) const override;
+
+  // Documentation inherited
+  void resetPosition(std::size_t _index) override;
+
+  // Documentation inherited
+  void resetPositions() override;
+
+  // Documentation inherited
+  void setInitialPosition(std::size_t _index, double _initial) override;
+
+  // Documentation inherited
+  double getInitialPosition(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setInitialPositions(const Eigen::VectorXd& _initial) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getInitialPositions() const override;
+
+  //----------------------------------------------------------------------------
+  // Velocity
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setVelocity(std::size_t _index, double _velocity) override;
+
+  // Documentation inherited
+  double getVelocity(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setVelocities(const Eigen::VectorXd& _velocities) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getVelocities() const override;
+
+  // Documentation inherited
+  void setVelocityLowerLimit(std::size_t _index, double _velocity) override;
+
+  // Documentation inherited
+  double getVelocityLowerLimit(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setVelocityLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getVelocityLowerLimits() const override;
+
+  // Documentation inherited
+  void setVelocityUpperLimit(std::size_t _index, double _velocity) override;
+
+  // Documentation inherited
+  double getVelocityUpperLimit(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setVelocityUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getVelocityUpperLimits() const override;
+
+  // Documentation inherited
+  void resetVelocity(std::size_t _index) override;
+
+  // Documentation inherited
+  void resetVelocities() override;
+
+  // Documentation inherited
+  void setInitialVelocity(std::size_t _index, double _initial) override;
+
+  // Documentation inherited
+  double getInitialVelocity(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setInitialVelocities(const Eigen::VectorXd& _initial) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getInitialVelocities() const override;
+
+  //----------------------------------------------------------------------------
+  // Acceleration
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setAcceleration(std::size_t _index, double _acceleration) override;
+
+  // Documentation inherited
+  double getAcceleration(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setAccelerations(const Eigen::VectorXd& _accelerations) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getAccelerations() const override;
+
+  // Documentation inherited
+  void resetAccelerations() override;
+
+  // Documentation inherited
+  void setAccelerationLowerLimit(
+      std::size_t _index, double _acceleration) override;
+
+  // Documentation inherited
+  double getAccelerationLowerLimit(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setAccelerationLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getAccelerationLowerLimits() const override;
+
+  // Documentation inherited
+  void setAccelerationUpperLimit(
+      std::size_t _index, double _acceleration) override;
+
+  // Documentation inherited
+  double getAccelerationUpperLimit(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setAccelerationUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getAccelerationUpperLimits() const override;
+
+  //----------------------------------------------------------------------------
+  // Force
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setForce(std::size_t _index, double _force) override;
+
+  // Documentation inherited
+  double getForce(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setForces(const Eigen::VectorXd& _forces) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getForces() const override;
+
+  // Documentation inherited
+  void resetForces() override;
+
+  // Documentation inherited
+  void setForceLowerLimit(std::size_t _index, double _force) override;
+
+  // Documentation inherited
+  double getForceLowerLimit(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setForceLowerLimits(const Eigen::VectorXd& lowerLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getForceLowerLimits() const override;
+
+  // Documentation inherited
+  void setForceUpperLimit(std::size_t _index, double _force) override;
+
+  // Documentation inherited
+  double getForceUpperLimit(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setForceUpperLimits(const Eigen::VectorXd& upperLimits) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getForceUpperLimits() const override;
+
+  //----------------------------------------------------------------------------
+  // Velocity change
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setVelocityChange(std::size_t _index, double _velocityChange) override;
+
+  // Documentation inherited
+  double getVelocityChange(std::size_t _index) const override;
+
+  // Documentation inherited
+  void resetVelocityChanges() override;
+
+  //----------------------------------------------------------------------------
+  // Constraint impulse
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setConstraintImpulse(std::size_t _index, double _impulse) override;
+
+  // Documentation inherited
+  double getConstraintImpulse(std::size_t _index) const override;
+
+  // Documentation inherited
+  void resetConstraintImpulses() override;
+
+  //----------------------------------------------------------------------------
+  // Integration and finite difference
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void integratePositions(double _dt) override;
+
+  // Documentation inherited
+  void integrateVelocities(double _dt) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getPositionDifferences(
+      const Eigen::VectorXd& _q2, const Eigen::VectorXd& _q1) const override;
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Passive forces - spring, viscous friction, Coulomb friction
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  void setSpringStiffness(std::size_t _index, double _k) override;
+
+  // Documentation inherited
+  double getSpringStiffness(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setRestPosition(std::size_t _index, double _q0) override;
+
+  // Documentation inherited
+  double getRestPosition(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setDampingCoefficient(std::size_t _index, double _d) override;
+
+  // Documentation inherited
+  double getDampingCoefficient(std::size_t _index) const override;
+
+  // Documentation inherited
+  void setCoulombFriction(std::size_t _index, double _friction) override;
+
+  // Documentation inherited
+  double getCoulombFriction(std::size_t _index) const override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  double computePotentialEnergy() const override;
+
+  // Documentation inherited
+  Eigen::Vector6d getBodyConstraintWrench() const override;
+
+protected:
+  /// Constructor called by inheriting classes
+  ZeroDofJoint();
+
+  // Documentation inherited
+  void registerDofs() override;
+
+  // Documentation inherited
+  void updateDegreeOfFreedomNames() override;
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Recursive dynamics routines
+  //----------------------------------------------------------------------------
+
+  // Documentation inherited
+  const math::Jacobian getRelativeJacobian() const override;
+
+  // Documentation inherited
+  math::Jacobian getRelativeJacobian(
+      const Eigen::VectorXd& _positions) const override;
+
+  // Documentation inherited
+  const math::Jacobian getRelativeJacobianTimeDeriv() const override;
+
+  // Documentation inherited
+  void addVelocityTo(Eigen::Vector6d& _vel) override;
+
+  // Documentation inherited
+  void setPartialAccelerationTo(
+      Eigen::Vector6d& _partialAcceleration,
+      const Eigen::Vector6d& _childVelocity) override;
+
+  // Documentation inherited
+  void addAccelerationTo(Eigen::Vector6d& _acc) override;
+
+  // Documentation inherited
+  void addVelocityChangeTo(Eigen::Vector6d& _velocityChange) override;
+
+  // Documentation inherited
+  void addChildArtInertiaTo(
+      Eigen::Matrix6d& _parentArtInertia,
+      const Eigen::Matrix6d& _childArtInertia) override;
+
+  // Documentation inherited
+  void addChildArtInertiaImplicitTo(
+      Eigen::Matrix6d& _parentArtInertia,
+      const Eigen::Matrix6d& _childArtInertia) override;
+
+  // Documentation inherited
+  void updateInvProjArtInertia(const Eigen::Matrix6d& _artInertia) override;
+
+  // Documentation inherited
+  void updateInvProjArtInertiaImplicit(
+      const Eigen::Matrix6d& _artInertia, double _timeStep) override;
+
+  // Documentation inherited
+  void addChildBiasForceTo(
+      Eigen::Vector6d& _parentBiasForce,
+      const Eigen::Matrix6d& _childArtInertia,
+      const Eigen::Vector6d& _childBiasForce,
+      const Eigen::Vector6d& _childPartialAcc) override;
+
+  // Documentation inherited
+  void addChildBiasImpulseTo(
+      Eigen::Vector6d& _parentBiasImpulse,
+      const Eigen::Matrix6d& _childArtInertia,
+      const Eigen::Vector6d& _childBiasImpulse) override;
+
+  // Documentation inherited
+  void updateTotalForce(
+      const Eigen::Vector6d& _bodyForce, double _timeStep) override;
+
+  // Documentation inherited
+  void updateTotalImpulse(const Eigen::Vector6d& _bodyImpulse) override;
+
+  // Documentation inherited
+  void resetTotalImpulses() override;
+
+  // Documentation inherited
+  void updateAcceleration(
+      const Eigen::Matrix6d& _artInertia,
+      const Eigen::Vector6d& _spatialAcc) override;
+
+  // Documentation inherited
+  void updateVelocityChange(
+      const Eigen::Matrix6d& _artInertia,
+      const Eigen::Vector6d& _velocityChange) override;
+
+  // Documentation inherited
+  void updateForceID(
+      const Eigen::Vector6d& _bodyForce,
+      double _timeStep,
+      bool _withDampingForces,
+      bool _withSpringForces) override;
+
+  // Documentation inherited
+  void updateForceFD(
+      const Eigen::Vector6d& _bodyForce,
+      double _timeStep,
+      bool _withDampingForces,
+      bool _withSpringForces) override;
+
+  // Documentation inherited
+  void updateImpulseID(const Eigen::Vector6d& _bodyImpulse) override;
+
+  // Documentation inherited
+  void updateImpulseFD(const Eigen::Vector6d& _bodyImpulse) override;
+
+  // Documentation inherited
+  void updateConstrainedTerms(double _timeStep) override;
+
+  /// \}
+
+  //----------------------------------------------------------------------------
+  /// \{ \name Recursive algorithm routines for equations of motion
+  //----------------------------------------------------------------------------
+
+  /// Add child's bias force to parent's one
+  void addChildBiasForceForInvMassMatrix(
+      Eigen::Vector6d& _parentBiasForce,
+      const Eigen::Matrix6d& _childArtInertia,
+      const Eigen::Vector6d& _childBiasForce) override;
+
+  /// Add child's bias force to parent's one
+  void addChildBiasForceForInvAugMassMatrix(
+      Eigen::Vector6d& _parentBiasForce,
+      const Eigen::Matrix6d& _childArtInertia,
+      const Eigen::Vector6d& _childBiasForce) override;
+
+  ///
+  void updateTotalForceForInvMassMatrix(
+      const Eigen::Vector6d& _bodyForce) override;
+
+  // Documentation inherited
+  void getInvMassMatrixSegment(
+      Eigen::MatrixXd& _invMassMat,
+      const std::size_t _col,
+      const Eigen::Matrix6d& _artInertia,
+      const Eigen::Vector6d& _spatialAcc) override;
+
+  // Documentation inherited
+  void getInvAugMassMatrixSegment(
+      Eigen::MatrixXd& _invMassMat,
+      const std::size_t _col,
+      const Eigen::Matrix6d& _artInertia,
+      const Eigen::Vector6d& _spatialAcc) override;
+
+  // Documentation inherited
+  void addInvMassMatrixSegmentTo(Eigen::Vector6d& _acc) override;
+
+  // Documentation inherited
+  Eigen::VectorXd getSpatialToGeneralized(
+      const Eigen::Vector6d& _spatial) override;
+
+  /// \}
+
+private:
+  /// Used by getDofName()
+  const std::string emptyString;
+};
+
+} // namespace dynamics
+} // namespace dart
+
+#endif // DART_DYNAMICS_ZERODOFJOINT_HPP_

include/dart/dynamics/all.hpp

@@ -0,0 +1,69 @@
+// Automatically generated file by cmake
+
+#include "dart/dynamics/ArrowShape.hpp"
+#include "dart/dynamics/AssimpInputResourceAdaptor.hpp"
+#include "dart/dynamics/BallJoint.hpp"
+#include "dart/dynamics/BodyNode.hpp"
+#include "dart/dynamics/BoxShape.hpp"
+#include "dart/dynamics/Branch.hpp"
+#include "dart/dynamics/CapsuleShape.hpp"
+#include "dart/dynamics/Chain.hpp"
+#include "dart/dynamics/CompositeNode.hpp"
+#include "dart/dynamics/ConeShape.hpp"
+#include "dart/dynamics/CylinderShape.hpp"
+#include "dart/dynamics/DegreeOfFreedom.hpp"
+#include "dart/dynamics/EllipsoidShape.hpp"
+#include "dart/dynamics/EndEffector.hpp"
+#include "dart/dynamics/Entity.hpp"
+#include "dart/dynamics/EntityNode.hpp"
+#include "dart/dynamics/EulerJoint.hpp"
+#include "dart/dynamics/FixedFrame.hpp"
+#include "dart/dynamics/FixedJacobianNode.hpp"
+#include "dart/dynamics/Frame.hpp"
+#include "dart/dynamics/FreeJoint.hpp"
+#include "dart/dynamics/GenericJoint.hpp"
+#include "dart/dynamics/Group.hpp"
+#include "dart/dynamics/HeightmapShape.hpp"
+#include "dart/dynamics/HierarchicalIK.hpp"
+#include "dart/dynamics/IkFast.hpp"
+#include "dart/dynamics/Inertia.hpp"
+#include "dart/dynamics/InvalidIndex.hpp"
+#include "dart/dynamics/InverseKinematics.hpp"
+#include "dart/dynamics/JacobianNode.hpp"
+#include "dart/dynamics/Joint.hpp"
+#include "dart/dynamics/LineSegmentShape.hpp"
+#include "dart/dynamics/Linkage.hpp"
+#include "dart/dynamics/Marker.hpp"
+#include "dart/dynamics/MeshShape.hpp"
+#include "dart/dynamics/MetaSkeleton.hpp"
+#include "dart/dynamics/MimicDofProperties.hpp"
+#include "dart/dynamics/MultiSphereConvexHullShape.hpp"
+#include "dart/dynamics/Node.hpp"
+#include "dart/dynamics/NodeManagerJoiner.hpp"
+#include "dart/dynamics/PlanarJoint.hpp"
+#include "dart/dynamics/PlaneShape.hpp"
+#include "dart/dynamics/PointCloudShape.hpp"
+#include "dart/dynamics/PointMass.hpp"
+#include "dart/dynamics/PrismaticJoint.hpp"
+#include "dart/dynamics/PyramidShape.hpp"
+#include "dart/dynamics/ReferentialSkeleton.hpp"
+#include "dart/dynamics/RevoluteJoint.hpp"
+#include "dart/dynamics/ScrewJoint.hpp"
+#include "dart/dynamics/Shape.hpp"
+#include "dart/dynamics/ShapeFrame.hpp"
+#include "dart/dynamics/ShapeNode.hpp"
+#include "dart/dynamics/SharedLibraryIkFast.hpp"
+#include "dart/dynamics/SimpleFrame.hpp"
+#include "dart/dynamics/Skeleton.hpp"
+#include "dart/dynamics/SmartPointer.hpp"
+#include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/dynamics/SoftMeshShape.hpp"
+#include "dart/dynamics/SpecializedNodeManager.hpp"
+#include "dart/dynamics/SphereShape.hpp"
+#include "dart/dynamics/TemplatedJacobianNode.hpp"
+#include "dart/dynamics/TranslationalJoint.hpp"
+#include "dart/dynamics/TranslationalJoint2D.hpp"
+#include "dart/dynamics/UniversalJoint.hpp"
+#include "dart/dynamics/VoxelGridShape.hpp"
+#include "dart/dynamics/WeldJoint.hpp"
+#include "dart/dynamics/ZeroDofJoint.hpp"