27 #ifndef JSPACE_TAO_UTIL_H
28 #define JSPACE_TAO_UTIL_H
55 std::string joint_name,
double limit_lower,
double limit_upper);
61 std::string link_name;
62 std::string joint_name;
85 std::vector<STaoNodeInfo> info;
106 int tao_consistency_check(
116 void mapNodesToIDs(std::map<int, taoDNode*> & idToNodeMap,
118 throw(std::runtime_error);
127 int countNumberOfLinks(
taoDNode * root);
132 int countNumberOfJoints(
taoDNode * node);
137 int countDegreesOfFreedom(
taoDNode * node);
141 double computeTotalMass(
taoDNode * node);
145 #endif // JSPACE_TAO_UTIL_H
Definition: tao_util.hpp:68
abstract node class for articulated bodyA dynamics node = {Articulated Body Link + Set of associated ...
Definition: taoDNode.h:46
root node class for articulated body dynamicsThis implements taoDNode for root node of a articulated ...
Definition: taoNode.h:147
bool sort()
Definition: tao_util.cpp:176
Definition: tao_util.hpp:52
virtual ~STaoTreeInfo()
Definition: tao_util.cpp:169
Base joint class for articulated bodyThis provides a joint for articulated body dynamics.
Definition: taoJoint.h:45