CoRiBoDynamics::StandardRigidElement Class Reference

#include <RigidElement.h>

Inheritance diagram for CoRiBoDynamics::StandardRigidElement:

Collaboration diagram for CoRiBoDynamics::StandardRigidElement:

Public Member Functions
	StandardRigidElement (const vec6 &DiagonalInertialMatrix, int ix_P, int ix_Q, int ix_V, int ix_W)
virtual void	Setup (double T, const double *const X)
virtual const mat6 &	InertialMatrix ()
virtual const vec6 &	Forces ()
	full 6x6 Inertia Matrix
Public Member Functions inherited from CoRiBoDynamics::RigidElement
const vec3 &	P ()
	Coriolis forces and other.
const Quat &	Q ()
	Position.
const vec3 &	V ()
	Velocity.
const vec3 &	W ()
	Orientation.
const vec3	P (const double *const X)
	Angular velocity.
const Quat	Q (const double *const X)
	Position.
const vec3	V (const double *const X)
	Velocity.
const vec3	W (const double *const X)
	Orientation.
int	ix_P ()
	Angular velocity.
int	ix_Q ()
	index of Position state
int	ix_V ()
	index of Orientation state
int	ix_W ()
	index of Velocity state
int	ix_N ()
	index of Angular velocity state
const mat3 &	RotationMatrix ()
	CoRiBoDynamics element index.

Protected Attributes
vec6	m_Inertia
mat6	m_FullInertiaMatrix
vec6	m_CoriolisForce
Protected Attributes inherited from CoRiBoDynamics::RigidElement
int	m_ix_N
int	m_ix_P
int	m_ix_Q
int	m_ix_V
int	m_ix_W
vec3	m_P
Quat	m_Q
vec3	m_V
vec3	m_W
mat3	m_RotationMatrix

Additional Inherited Members
Protected Member Functions inherited from CoRiBoDynamics::RigidElement
void	set_element_index (int N)
	Orientation in 3x3 matrix form.

Detailed Description

Author

Jorgen Haavind Jensen

RigidElement implementation with time-constant diagonal inertia matrix, and corresponding coriolis forces

Member Function Documentation

Forces()

virtual const vec6 & CoRiBoDynamics::StandardRigidElement::Forces ( )

virtual

Implements CoRiBoDynamics::RigidElement.

InertialMatrix()

virtual const mat6 & CoRiBoDynamics::StandardRigidElement::InertialMatrix ( )

virtual

Implements CoRiBoDynamics::RigidElement.

Setup()

virtual void CoRiBoDynamics::StandardRigidElement::Setup ( double  T, const double *const  X  )

virtual

Update internal states (position/velocity/inertia etc.)

The basic implementation updates basic state vectors (P,V,Q,W,R) and and kinematic relations (Q_dot)

Reimplemented from CoRiBoDynamics::RigidElement.

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The documentation for this class was generated from the following file:

• /update_root/webfhsim/reloadrepos/fhsim_coribo/src/ConstraintSolver/RigidElement.h