Public Attributes | List of all members
hrp::CFSImpl::BodyData Struct Reference

Public Attributes

BodyPtr body
 
Vector3 dpf
 
Vector3 dptau
 
ForwardDynamicsMMPtr forwardDynamicsMM
 
bool hasConstrainedLinks
 
bool isStatic
 
bool isTestForceBeingApplied
 
LinkDataArray linksData
 
Vector3rootLinkPosRef
 only used by the ForwardDynamicsMM mode More...
 

Detailed Description

Definition at line 176 of file ConstraintForceSolver.cpp.

Member Data Documentation

◆ body

BodyPtr hrp::CFSImpl::BodyData::body

Definition at line 178 of file ConstraintForceSolver.cpp.

◆ dpf

Vector3 hrp::CFSImpl::BodyData::dpf

Definition at line 184 of file ConstraintForceSolver.cpp.

◆ dptau

Vector3 hrp::CFSImpl::BodyData::dptau

Definition at line 185 of file ConstraintForceSolver.cpp.

◆ forwardDynamicsMM

ForwardDynamicsMMPtr hrp::CFSImpl::BodyData::forwardDynamicsMM

If the body includes high-gain mode joints, the ForwardDynamisMM object of the body is set to this pointer. The pointer is null when all the joints are torque mode and the forward dynamics is calculated by ABM.

Definition at line 196 of file ConstraintForceSolver.cpp.

◆ hasConstrainedLinks

bool hrp::CFSImpl::BodyData::hasConstrainedLinks

Definition at line 180 of file ConstraintForceSolver.cpp.

◆ isStatic

bool hrp::CFSImpl::BodyData::isStatic

Definition at line 179 of file ConstraintForceSolver.cpp.

◆ isTestForceBeingApplied

bool hrp::CFSImpl::BodyData::isTestForceBeingApplied

Definition at line 181 of file ConstraintForceSolver.cpp.

◆ linksData

LinkDataArray hrp::CFSImpl::BodyData::linksData

Definition at line 182 of file ConstraintForceSolver.cpp.

◆ rootLinkPosRef

Vector3* hrp::CFSImpl::BodyData::rootLinkPosRef

only used by the ForwardDynamicsMM mode

Definition at line 188 of file ConstraintForceSolver.cpp.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Wed Sep 7 2022 02:51:06