api.md

API Documentation

Docstrings for Dojo.jl interface members can be accessed through Julia's built-in documentation system or in the list below.

CurrentModule = Dojo

Contents

Pages = ["api.md"]

Index

Pages = ["api.md"]

Mechanism

Mechanism
get_node
get_body
get_joint
get_contact
get_maximal_state
get_next_state
get_minimal_state
set_maximal_state!
set_minimal_state!
set_input!
maximal_dimension 
minimal_dimension
input_dimension
input_dimensions
zero_coordinates!
zero_velocities!
root_to_leaves_ordering
set_floating_base
set_external_force!
add_external_force!

Nodes

Node
Body
Origin
Constraint
Shape
EmptyShape
Mesh
Box
Cylinder
Capsule
Sphere
Pyramid
FrameShape
CombinedShapes

Joints

Joint
Rotational
Translational
JointConstraint
Floating
Fixed
Prismatic
Planar
FixedOrientation
Revolute
Cylindrical
PlanarAxis
FreeRevolute
Orbital
PrismaticOrbital
PlanarOrbital
FreeOrbital
Spherical
CylindricalFree
PlanarFree

Contacts

Contact
ImpactContact
LinearContact
NonlinearContact
ContactConstraint
contact_constraint
contact_location
get_sdf 
Collision
SphereHalfSpaceCollision
SphereSphereCollision
SphereCapsuleCollision
SphereBoxCollision
contact_normal 
contact_tangent

Representations

State
minimal_to_maximal
maximal_to_minimal

Mechanics

mechanical_energy 
kinetic_energy 
potential_energy 
momentum

Simulate

Storage
step!
step_minimal_coordinates!
simulate!

Gradients

get_maximal_gradients!
get_minimal_gradients!
maximal_to_minimal_jacobian
minimal_to_maximal_jacobian

Solver

SolverOptions
mehrotra!

Visualization

visualize
build_robot
set_camera!
set_light!
set_surface!
set_floor!
set_arrow!