#include <RBDyn/RBDyn/MultiBodyConfig.h>

Public Member Functions
	MultiBodyConfig ()

	MultiBodyConfig (const MultiBody &mb)

void	zero (const MultiBody &mb)
	Set the multibody at zero configuration.

std::vector< Eigen::MatrixXd >	python_motionSubspace ()

void	python_motionSubspace (const std::vector< Eigen::MatrixXd > &v)

Public Attributes
std::vector< std::vector< double > >	q
	Generalized position variable.

std::vector< std::vector< double > >	alpha
	Generalized speed variable.

std::vector< std::vector< double > >	alphaD
	Generalized acceleration variable.

std::vector< sva::ForceVecd >	force
	Total external force acting on each body in world coordinate.

std::vector< sva::PTransformd >	jointConfig
	Joints configuration (Xj).

std::vector< sva::MotionVecd >	jointVelocity
	Joints velocity (Xj*j.motion()).

std::vector< std::vector< double > >	jointTorque
	Joints torque.

std::vector< Eigen::Matrix< double, 6, Eigen::Dynamic > >	motionSubspace
	Motion subspace (Xj.j.subspace).

std::vector< sva::PTransformd >	bodyPosW
	Bodies transformation in world coordinate.

std::vector< sva::PTransformd >	parentToSon
	Transformation from parent(i) to i in body coordinate (Xj*Xt).

std::vector< sva::MotionVecd >	bodyVelW
	Bodies speed in world coordinate.

std::vector< sva::MotionVecd >	bodyVelB
	Bodies speed in Body coordinate.

std::vector< sva::MotionVecd >	bodyAccB
	Bodies acceleration in Body coordinate.

Eigen::Vector3d	gravity
	gravity acting on the multibody.

Constructor & Destructor Documentation

◆ MultiBodyConfig() [1/2]

rbd::MultiBodyConfig::MultiBodyConfig ( )

inline

◆ MultiBodyConfig() [2/2]

rbd::MultiBodyConfig::MultiBodyConfig ( const MultiBody & mb )

Member Function Documentation

◆ python_motionSubspace() [1/2]

std::vector< Eigen::MatrixXd > rbd::MultiBodyConfig::python_motionSubspace ( )

◆ python_motionSubspace() [2/2]

void rbd::MultiBodyConfig::python_motionSubspace ( const std::vector< Eigen::MatrixXd > & v )

◆ zero()

void rbd::MultiBodyConfig::zero ( const MultiBody & mb )

Set the multibody at zero configuration.

Member Data Documentation

◆ alpha

std::vector<std::vector<double> > rbd::MultiBodyConfig::alpha

Generalized speed variable.

◆ alphaD

std::vector<std::vector<double> > rbd::MultiBodyConfig::alphaD

Generalized acceleration variable.

◆ bodyAccB

std::vector<sva::MotionVecd> rbd::MultiBodyConfig::bodyAccB

Bodies acceleration in Body coordinate.

◆ bodyPosW

std::vector<sva::PTransformd> rbd::MultiBodyConfig::bodyPosW

Bodies transformation in world coordinate.

◆ bodyVelB

std::vector<sva::MotionVecd> rbd::MultiBodyConfig::bodyVelB

Bodies speed in Body coordinate.

◆ bodyVelW

std::vector<sva::MotionVecd> rbd::MultiBodyConfig::bodyVelW

Bodies speed in world coordinate.

◆ force

std::vector<sva::ForceVecd> rbd::MultiBodyConfig::force

Total external force acting on each body in world coordinate.

◆ gravity

Eigen::Vector3d rbd::MultiBodyConfig::gravity

gravity acting on the multibody.

◆ jointConfig

std::vector<sva::PTransformd> rbd::MultiBodyConfig::jointConfig

Joints configuration (Xj).

◆ jointTorque

std::vector<std::vector<double> > rbd::MultiBodyConfig::jointTorque

Joints torque.

◆ jointVelocity

std::vector<sva::MotionVecd> rbd::MultiBodyConfig::jointVelocity

Joints velocity (Xj*j.motion()).

◆ motionSubspace

std::vector<Eigen::Matrix<double, 6, Eigen::Dynamic> > rbd::MultiBodyConfig::motionSubspace

Motion subspace (Xj.j.subspace).

◆ parentToSon

std::vector<sva::PTransformd> rbd::MultiBodyConfig::parentToSon

Transformation from parent(i) to i in body coordinate (Xj*Xt).

◆ q

std::vector<std::vector<double> > rbd::MultiBodyConfig::q

Generalized position variable.

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

src/RBDyn/RBDyn/MultiBodyConfig.h

Public Member Functions

Public Attributes