Inheritance diagram for rigidbody::CRigidCompositeBody:

Collaboration diagram for rigidbody::CRigidCompositeBody:

Public Member Functions
void	AddComponent (CRigidBody *component, const vec6 &orientation)

mat6	GetInertiaMatrix (const vec3 &r, double time, const double states, environment::EnvironmentProvider environment)

vec6	GetInternalForces (const vec6 &dX, const vec3 &r, const quat &q, environment::EnvironmentProvider environment, double time, const double states)

mat64	GetGravityForceDerivative (const quat &q)

Public Member Functions inherited from rigidbody::CRigidBody
vec13	GetSecondDerivative (const vec3 &r, const quat &q, const vec3 &v, const vec3 w, const vec6 &externalForces, environment::EnvironmentProvider environment, double time, const double states)

mat13	GetSecondDerivativeJacobian (const vec3 &r, const quat &q, const vec3 &v, const vec3 &w, const vec6 &externalForces, environment::EnvironmentProvider environment, double time, const double states)

void	WriteStateJacobian (const double X, int positionIndex, int quaterIndex, int velocityIndex, int omegaIndex, const vec6 &externalForces, environment::EnvironmentProvider environment, double time, double *J, int nStates)

Static Protected Member Functions
static quat	ComponentQuaternion (const vec3 &thetaC)
	The quaternion of a component's rotation vector `thetaC`.

Protected Attributes
list< rbody, Eigen::aligned_allocator< rbody > >	clist

mat6	m_inertia

Additional Inherited Members
Static Public Member Functions inherited from rigidbody::CRigidBody
static vec6	GetCoriolisForce (const vec6 &dX, const mat6 &Inertia)

static mat6	GetCoriolisForceDerivative (const vec6 &dX, const mat6 &Inertia)
	d(GetCoriolisForce)/d(dX) at a fixed inertia matrix, bodylocal.

static mat6	ReorientInertiaTranslateRotate (const mat6 &Inertia, const vec6 &orientation)

static mat3	MakeDyadic (const vec3 &vector)

static mat34	RotationDerivative (const quat &q, const vec3 &x)

static mat34	ConjugateRotationDerivative (const quat &q, const vec3 &x)

static mat3	GetRotation (const vec3 &angle)

static mat6	GetRotation6 (const vec3 &angle)

Member Function Documentation

◆ GetGravityForceDerivative()

mat64 rigidbody::CRigidCompositeBody::GetGravityForceDerivative ( const quat & q )

virtual

d(gravity part of GetInternalForces)/dq, over (q.w, q.x, q.y, q.z).

q: global; return: bodylocal. The other internal forces (drag, soil) have no derivative here.

mat6 rigidbody::CRigidCompositeBody::GetInertiaMatrix	(	const vec3 &	r,
		double	time,
		const double *	states,
		environment::EnvironmentProvider *	environment
	)

virtual

vec6 rigidbody::CRigidCompositeBody::GetInternalForces	(	const vec6 &	dX,
		const vec3 &	r,
		const quat &	q,
		environment::EnvironmentProvider *	environment,
		double	time,
		const double *	states
	)

virtual

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