spherical joint variable class for articulated bodyThis provides joint variables necessary for articulated body dynamics. More...

#include <taoVar.h>

Inheritance diagram for taoVarSpherical:

Collaboration diagram for taoVarSpherical:

Public Attributes
deQuaternion	q_quat_
	joint position More...

deVector3	dq_
	joint velocity in local frame More...

deVector3	ddq_
	joint acceleration More...

deVector3	force_gc_
	joint force (torque) More...

deVector3	dq_rotated_
	joint velocity in reference (parent) frame More...

Detailed Description

spherical joint variable class for articulated body

This provides joint variables necessary for articulated body dynamics.

Member Data Documentation

deVector3 taoVarSpherical::ddq_

joint acceleration

deVector3 taoVarSpherical::dq_

joint velocity in local frame

deVector3 taoVarSpherical::dq_rotated_

joint velocity in reference (parent) frame

deVector3 taoVarSpherical::force_gc_

joint force (torque)

deQuaternion taoVarSpherical::q_quat_

joint position

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