SCL  1.0
Standard Control Library : Control, dynamics, physics, and simulation
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taoArticulatedBodyLinkRoot Class Reference
Inheritance diagram for taoArticulatedBodyLinkRoot:
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Collaboration diagram for taoArticulatedBodyLinkRoot:
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Public Member Functions

virtual const deInt getFlag () const
 
virtual void setFlag (deInt v)
 
virtual deVector6 * Pa ()
 
virtual const deMatrix6 * I () const
 
virtual void gravityForce (deVector6 &Fext, deVector3 &g, const deVector3 &gh)
 
virtual void velocity (deVector6 &V, deVector3 &WxV, const deVector6 &Vh, const deVector3 &WhxVh)
 
virtual void biasAcceleration (deVector6 &H, const deVector6 &Hh)
 
virtual deFloat kineticEnergy (deVector6 &V, const deVector6 &Vh)
 
virtual deFloat potentialEnergy (const deVector3 &gh, const deFrame &globalFrame, const deFloat mass, const deVector3 &centerOfMass)
 
virtual void velocityDelta (deVector6 &dV, const deVector6 &dVh, const deInt dist)
 
virtual taoABJoint * getABJoint (deInt i=0)
 
virtual const deInt getNOJ () const
 
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 velocityOnly (deVector6 &V, const deVector6 &Vh)
 
virtual void acceleration (deVector6 &A, const deVector6 &Ah)
 
virtual void accelerationOnly (deVector6 &A, const deVector6 &Ah)
 
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 void setNOJ (deInt n)
 

Member Function Documentation

virtual deVector6* taoArticulatedBodyLink::getVelocity ( )
inlinevirtualinherited

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

virtual deMatrix6* taoArticulatedBodyLink::Omega ( )
inlinevirtualinherited

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.

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