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

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

Classes
struct	ContactData
	Contact information for a single link. More...
struct	ExternalForce
	Parameters for a call to Bullet's applyExternalForce. More...
struct	JointProperties
	Properties for robot joints in the Bullet simulation. More...
struct	RobotSimulatorChangeDynamicsArgs
	Structure which contains the new link properties. More...
class	RobotSimulatorClientAPI
	Child class to enable modification of inertia matrices. 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...

Variables
constexpr double	kGravity = 9.81
	Standard gravity constant used in Bullet simulations.

Detailed Description

Bullet utility functions used in the simulation interface.