taoArticulatedBodyLink Class Reference

Articulated body node classThis class provides node for articulated body. More...

#include <taoArticulatedBodyLink.hpp>

Inheritance diagram for taoArticulatedBodyLink:

Collaboration diagram for taoArticulatedBodyLink:

Public Member Functions
virtual void	setFlag (deInt v)=0
virtual const deInt	getFlag () const =0
virtual deVector6 *	Pa ()=0
virtual const deMatrix6 *	I () const =0
virtual deMatrix6 *	Omega ()
virtual deVector6 *	H ()
virtual deVector6 *	getVelocity ()
virtual deVector6 *	A ()
virtual void	abInertiaInit (deMatrix6 &Ia)
virtual void	impulseInit (const deVector3 &point, const deVector3 &impulse)
virtual void	setInertia (const deFloat *mass, const deVector3 *centerOfMass, const deMatrix3 *inertiaTensor)
virtual void	biasForce (deVector6 &P, const deVector6 &V, const deVector3 &WxV)
virtual void	_abInertia (deMatrix6 &Iah, const deMatrix6 &L, const deMatrix6 &Ia, const deTransform &X)
virtual void	_abBiasForce (deVector6 &Pah, const deMatrix6 &L, const deMatrix6 &Ia, const deVector6 &C, const deVector6 &Pa)
virtual void	netForce (deVector6 &F, const deVector6 &A, const deVector6 &P)
virtual void	externalForce (deVector6 &Pa, const deVector6 &G, const deVector6 &Fext)
virtual void	updateLocalX (const deFrame &homeFrame, const deFrame &localFrame)
virtual void	getFrameLocal (deFrame &localFrame)
virtual void	abImpulse (deVector6 &Yah, deInt propagate)
virtual void	globalJacobian (const deFrame &globalFrame)
virtual void	plusEq_Jg_ddQ (deVector6 &Ag)
virtual void	add2Tau_JgT_F (const deVector6 &Fg)
virtual void	gravityForce (deVector6 &Fext, deVector3 &g, const deVector3 &gh)=0
virtual void	velocity (deVector6 &V, deVector3 &WxV, const deVector6 &Vh, const deVector3 &WhxVh)=0
virtual void	velocityOnly (deVector6 &V, const deVector6 &Vh)
virtual void	biasAcceleration (deVector6 &H, const deVector6 &Hh)=0
virtual deFloat	kineticEnergy (deVector6 &V, const deVector6 &Vh)=0
virtual deFloat	potentialEnergy (const deVector3 &gh, const deFrame &globalFrame, const deFloat mass, const deVector3 &centerOfMass)=0
virtual void	acceleration (deVector6 &A, const deVector6 &Ah)
virtual void	accelerationOnly (deVector6 &A, const deVector6 &Ah)
virtual void	velocityDelta (deVector6 &dV, const deVector6 &dVh, const deInt dist)=0
virtual void	force (deVector6 &Fh, deInt propagate)
virtual void	abBiasForceConfig (deVector6 &Pah, deInt propagate)
virtual void	abInertiaDepend (deMatrix6 &Iah, deVector6 &Pah, deMatrix6 &Ia, deInt propagate)
virtual void	osInertiaInv (deMatrix6 &Oa, const deMatrix6 &Oah)
virtual void	setABJoint (taoABJoint *joint, deInt i=0)
virtual taoABJoint *	getABJoint (deInt i=0)=0
virtual void	setNOJ (deInt n)
virtual const deInt	getNOJ () const =0

Private Attributes
deVector6	velocity_
deVector6	_A
deVector6	_H
deMatrix6	_Omega

Detailed Description

Articulated body node class

This class provides node for articulated body.

Edited 2013-08-21 : Samir Menon smeno.nosp@m.n@st.nosp@m.anfor.nosp@m.d.ed.nosp@m.u

Member Function Documentation

virtual deVector6* taoArticulatedBodyLink::getVelocity ( )

inlinevirtual

Returns this link's velocity. Should ideally be at the com

virtual deMatrix6* taoArticulatedBodyLink::Omega ( )

inlinevirtual

NOTE TODO : The convoluted way in which this seems to have been called is : class->function(class->getOmega())

Instead of just class->function(){_Omega = ...}

Ahh.. The elegance of it all.

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

• /home/samir/Code/control/scl.git/src/scl/dynamics/tao/tao/dynamics/taoArticulatedBodyLink.hpp