Class for representing a single link in a schedule tree. More...
#include <psim.h>
Public Member Functions | |
pLink (Joint *_joint) | |
~pLink () | |
Private Member Functions | |
void | calc_acc (const fVec3 &g0) |
void | calc_inertia () |
void | dump (ostream &ost) |
Private Attributes | |
fVec | acc |
fVec | c |
Joint * | joint |
fMat | M |
fMat | Minv |
pSubChain * | subchain |
Friends | |
class | pJoint |
class | pSim |
class | pSubChain |
pLink::pLink | ( | Joint * | _joint | ) | [inline] |
pLink::~pLink | ( | ) | [inline] |
void pLink::calc_acc | ( | const fVec3 & | g0 | ) | [private] |
Definition at line 851 of file update.cpp.
void pLink::calc_inertia | ( | ) | [private] |
void pLink::dump | ( | ostream & | ost | ) | [private] |
fVec pLink::acc [private] |
Joint* pLink::joint [private] |
fMat pLink::Minv [private] |
pSubChain* pLink::subchain [private] |