upkie::cpp::interfaces::bullet Namespace Reference

Bullet utility functions used in the simulation interface. More...

Functions
void	read_imu_data (ImuData &imu_data, b3RobotSimulatorClientAPI &bullet, int robot, const int imu_link_index, double dt)
	Compute groundtruth IMU quantities from the IMU link state. More...
btQuaternion	bullet_from_eigen (const Eigen::Quaterniond &quat)
	Convert an Eigen quaternion to a Bullet one. More...
btVector3	bullet_from_eigen (const Eigen::Vector3d &v)
	Convert an Eigen vector to a Bullet one. More...
Eigen::Quaterniond	eigen_from_bullet (const btQuaternion &quat)
	Convert a Bullet quaternion to an Eigen one. More...
Eigen::Vector3d	eigen_from_bullet (const btVector3 &v)
	Convert a Bullet vector to an Eigen one. More...
int	find_link_index (b3RobotSimulatorClientAPI &bullet, int robot, const std::string &link_name) noexcept
	Find the index of a link. More...
Eigen::Vector3d	get_position_link_in_world (b3RobotSimulatorClientAPI &bullet, int robot, int link_index) noexcept
	Get the position of a link frame in the world frame. More...
double	compute_robot_mass (b3RobotSimulatorClientAPI &bullet, int robot)
	Get the total mass of the robot. More...
Eigen::Vector3d	compute_position_com_in_world (b3RobotSimulatorClientAPI &bullet, int robot)
	Get the position of the center of mass of a robot in the world frame. More...

Detailed Description

Bullet utility functions used in the simulation interface.