| /dports/science/simbody/simbody-Simbody-3.7/Simbody/src/ |
| H A D | RigidBodyNodeSpec_PolarCoords.h | 164 const Transform X_F0M0 = this->findX_F0M0(pc); in calcAcrossJointVelocityJacobian() local
165 const Rotation& R_F0M0 = X_F0M0.R(); in calcAcrossJointVelocityJacobian()
168 const Vec3& p_FM = X_F0M0.p(); in calcAcrossJointVelocityJacobian()
188 const Transform X_F0M0 = this->findX_F0M0(pc); in calcAcrossJointVelocityJacobianDot() local
189 const Rotation& R_F0M0 = X_F0M0.R(); in calcAcrossJointVelocityJacobianDot()
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| H A D | RigidBodyNodeSpec_SphericalCoords.h | 231 const Transform X_F0M0 = this->findX_F0M0(pc); // 18 flops if reversed in calcAcrossJointVelocityJacobian() local
234 const Rotation& R_FM = X_F0M0.R(); in calcAcrossJointVelocityJacobian()
235 const Vec3& p_FM = X_F0M0.p(); in calcAcrossJointVelocityJacobian()
263 const Transform X_F0M0 = this->findX_F0M0(pc); // 18 flops if reversed in calcAcrossJointVelocityJacobianDot() local
267 const Rotation& R_FM = X_F0M0.R(); in calcAcrossJointVelocityJacobianDot()
268 const Vec3& p_FM = X_F0M0.p(); in calcAcrossJointVelocityJacobianDot()
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| H A D | RigidBodyNodeSpec_Universal.h | 159 const Transform X_F0M0 = this->findX_F0M0(pc); in calcAcrossJointVelocityJacobian() local
162 const Rotation& R_FM = X_F0M0.R(); in calcAcrossJointVelocityJacobian()
181 const Transform X_F0M0 = this->findX_F0M0(pc); in calcAcrossJointVelocityJacobianDot() local
184 const Rotation& R_FM = X_F0M0.R(); in calcAcrossJointVelocityJacobianDot()
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| H A D | RigidBodyNodeSpec_LineOrientation.h | 156 Transform& X_F0M0) const in calcX_FM() argument
158 X_F0M0.updP() = 0; // This joint can't translate. in calcX_FM()
161 X_F0M0.updR().setRotationToBodyFixedXYZ // 18 flops in calcX_FM()
168 X_F0M0.updR().setRotationFromQuaternion(quat); // 29 flops in calcX_FM()
180 const Transform X_F0M0 = this->findX_F0M0(pc); in calcAcrossJointVelocityJacobian() local
183 const Rotation& R_FM = X_F0M0.R(); in calcAcrossJointVelocityJacobian()
202 const Transform X_F0M0 = this->findX_F0M0(pc); in calcAcrossJointVelocityJacobianDot() local
205 const Rotation& R_FM = X_F0M0.R(); in calcAcrossJointVelocityJacobianDot()
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| H A D | RigidBodyNodeSpec_FreeLine.h | 188 Transform& X_F0M0) const override in calcX_FM() argument
192 X_F0M0.updR().setRotationToBodyFixedXYZ // 18 flops in calcX_FM()
194 X_F0M0.updP() = Vec3::getAs(&q[3]); // a012 x y z in calcX_FM()
200 X_F0M0.updR().setRotationFromQuaternion(quat); // 29 flops in calcX_FM()
201 X_F0M0.updP() = Vec3::getAs(&q[4]); // q0123 x y z in calcX_FM()
215 const Transform X_F0M0 = this->findX_F0M0(pc); in calcAcrossJointVelocityJacobian() local
218 const Rotation& R_FM = X_F0M0.R(); in calcAcrossJointVelocityJacobian()
241 const Transform X_F0M0 = this->findX_F0M0(pc); in calcAcrossJointVelocityJacobianDot() local
244 const Rotation& R_FM = X_F0M0.R(); in calcAcrossJointVelocityJacobianDot()
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| H A D | RigidBodyNodeSpec_Gimbal.h | 142 Transform& X_F0M0) const in calcX_FM() argument
146 X_F0M0.updR().setRotationToBodyFixedXYZ // 18 flops in calcX_FM()
148 X_F0M0.updP() = 0; // This joint can't translate. in calcX_FM()
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| H A D | RigidBodyNodeSpec_Bushing.h | 153 Transform& X_F0M0) const override in calcX_FM() argument
157 X_F0M0.updR().setRotationToBodyFixedXYZ // 18 flops in calcX_FM()
159 X_F0M0.updP() = Vec3::getAs(&q[3]); // a012 x y z in calcX_FM()
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| H A D | RigidBodyNodeSpec_Free.h | 171 Transform& X_F0M0) const override in calcX_FM() argument
176 X_F0M0.updR().setRotationToBodyFixedXYZ // 18 flops in calcX_FM()
178 X_F0M0.updP() = Vec3::getAs(&q[3]); // a012 x y z in calcX_FM()
185 X_F0M0.updR().setRotationFromQuaternion(quat); // 29 flops in calcX_FM()
186 X_F0M0.updP() = Vec3::getAs(&q[4]); // q0123 x y z in calcX_FM()
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| H A D | RigidBodyNodeSpec_Ellipsoid.h | 225 Transform& X_F0M0) const in calcX_FM() argument
230 X_F0M0.updR().setRotationToBodyFixedXYZ // 18 flops in calcX_FM()
237 X_F0M0.updR().setRotationFromQuaternion(quat); // 29 flops in calcX_FM()
241 const Vec3& n = X_F0M0.z(); // just calculated above in calcX_FM()
242 X_F0M0.updP() = Vec3(semi[0]*n[0], semi[1]*n[1], semi[2]*n[2]); in calcX_FM()
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| H A D | RigidBodyNodeSpec_Ball.h | 142 Transform& X_F0M0) const in calcX_FM() argument
147 X_F0M0.updR().setRotationToBodyFixedXYZ // 18 flops in calcX_FM()
154 X_F0M0.updR().setRotationFromQuaternion(quat); // 29 flops in calcX_FM()
158 X_F0M0.updP() = 0; // This joint can't translate. in calcX_FM()
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| H A D | RigidBodyNode.h | 221 Transform& X_F0M0) const = 0;
229 Transform& X_F0M0) const in calcAcrossJointTransform() argument
236 calcX_FM(sbs, q, nq, qPool, poolz, X_F0M0); in calcAcrossJointTransform()
245 Transform& X_F0M0) const in calcAcrossJointTransform() argument
250 calcAcrossJointTransform(sbs, qp, nq, X_F0M0); in calcAcrossJointTransform()
1027 (const SBStateDigest&, const Transform& X_F0M0, Vector& q) const = 0;
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| H A D | RigidBodyNodeSpec_Custom.h | 235 Transform& X_F0M0) const in calcX_FM() argument
239 X_F0M0 = impl.calcMobilizerTransformFromQ(sbs.getState(), nq, q); in calcX_FM()
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| H A D | RigidBodyNode_LoneParticle.cpp | 426 void setQToFitTransformImpl(const SBStateDigest&, const Transform& X_F0M0, in setQToFitTransformImpl() argument
428 Vec3::updAs(&q[qIndex]) = X_F0M0.p(); in setQToFitTransformImpl()
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