SCL  1.0
Standard Control Library : Control, dynamics, physics, and simulation
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taoABJointSpherical Class Reference
Inheritance diagram for taoABJointSpherical:
Inheritance graph
Collaboration diagram for taoABJointSpherical:
Collaboration graph

Public Member Functions

 taoABJointSpherical (taoDJoint *joint)
virtual void update_localX (const deTransform &home, const deFrame &localFrame)
virtual void plusEq_SdQ (deVector6 &V)
virtual void plusEq_V_X_SdQ (deVector6 &C, const deVector6 &V)
virtual void compute_Dinv_and_SbarT (const deMatrix6 &Ia)
virtual void minusEq_X_SbarT_St (deMatrix6 &L, const deTransform &localX)
virtual void plusEq_X_SbarT_Tau (deVector6 &Pah, const deTransform &localX)
virtual void compute_ddQ (const deVector6 &Pa, const deVector6 &XAh_C)
virtual void compute_ddQ_zeroTau (const deVector6 &Pa, const deVector6 &XAh_C)
virtual void compute_ddQ_zeroTauPa (const deVector6 &XAh_C)
virtual void compute_Tau (const deVector6 &F)
virtual void plusEq_SddQ (deVector6 &A)
virtual void minusEq_SdQ_damping (deVector6 &B, const deMatrix6 &Ia)
virtual void plusEq_S_Dinv_St (deMatrix6 &Omega)
virtual void compute_Jg (const deTransform &globalX)
virtual void plusEq_Jg_ddQ (deVector6 &Ag)
virtual void add2Tau_JgT_F (const deVector6 &Fg)
virtual void plusEq_S_inertia_ddQ (deVector6 &F, const deVector6 &A)
virtual taoVarSphericalgetVarSpherical ()
virtual deMatrix3Jg ()
virtual deVector6C ()
virtual deVector6Pa ()
virtual deTransformlocalX ()
virtual deMatrix6L ()
virtual deFloat getDamping ()
virtual deFloat getInertia ()
virtual taoDVargetDVar ()
virtual void zeroTau ()
virtual void addDQdelta ()
virtual void addQdelta ()

Private Attributes

deMatrix3 _SbarT [2]
deMatrix3 _Dinv
deMatrix3 _Jg [2]

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