FixedAndMovableJoint Struct Reference

Fixture that contains two models of which one has one joint fixed. More...

#include <Fixtures.h>

Inheritance diagram for FixedAndMovableJoint:

Public Member Functions
RobotDynamics::Math::VectorNd	CreateDofVectorFromReducedVector (const RobotDynamics::Math::VectorNd &q_fixed)
RobotDynamics::Math::MatrixNd	CreateReducedInertiaMatrix (const RobotDynamics::Math::MatrixNd &H_movable)
	FixedAndMovableJoint ()
void	SetUp ()
void	TearDown ()

Public Attributes
RobotDynamics::Body	body_a
unsigned int	body_a_fixed_id
unsigned int	body_a_id
RobotDynamics::Body	body_b
unsigned int	body_b_fixed_id
unsigned int	body_b_id
RobotDynamics::Body	body_c
unsigned int	body_c_fixed_id
unsigned int	body_c_id
RobotDynamics::Math::VectorNd	C_fixed
RobotDynamics::Math::VectorNd	C_movable
RobotDynamics::Math::MatrixNd	H_fixed
RobotDynamics::Math::MatrixNd	H_movable
RobotDynamics::Joint	joint_a
RobotDynamics::Joint	joint_b
RobotDynamics::Joint	joint_c
RobotDynamics::Model *	model_fixed
RobotDynamics::Model *	model_movable
RobotDynamics::Math::Vector3d	point_acceleration
RobotDynamics::Math::Vector3d	point_position
RobotDynamics::Math::VectorNd	Q
RobotDynamics::Math::VectorNd	Q_fixed
RobotDynamics::Math::VectorNd	QDDot
RobotDynamics::Math::VectorNd	QDDot_fixed
RobotDynamics::Math::VectorNd	QDot
RobotDynamics::Math::VectorNd	QDot_fixed
unsigned int	ref_body_id
RobotDynamics::Math::VectorNd	Tau
RobotDynamics::Math::VectorNd	Tau_fixed

Detailed Description

Fixture that contains two models of which one has one joint fixed.

Definition at line 676 of file Fixtures.h.

Constructor & Destructor Documentation

FixedAndMovableJoint::FixedAndMovableJoint ( )

inline

Definition at line 678 of file Fixtures.h.

Member Function Documentation

RobotDynamics::Math::VectorNd FixedAndMovableJoint::CreateDofVectorFromReducedVector ( const RobotDynamics::Math::VectorNd &  q_fixed )

inline

Definition at line 750 of file Fixtures.h.

RobotDynamics::Math::MatrixNd FixedAndMovableJoint::CreateReducedInertiaMatrix ( const RobotDynamics::Math::MatrixNd &  H_movable )

inline

Definition at line 763 of file Fixtures.h.

void FixedAndMovableJoint::SetUp ( )

inline

Definition at line 682 of file Fixtures.h.

void FixedAndMovableJoint::TearDown ( )

inline

Definition at line 744 of file Fixtures.h.

Member Data Documentation

RobotDynamics::Body FixedAndMovableJoint::body_a

Definition at line 783 of file Fixtures.h.

unsigned int FixedAndMovableJoint::body_a_fixed_id

Definition at line 781 of file Fixtures.h.

unsigned int FixedAndMovableJoint::body_a_id

Definition at line 780 of file Fixtures.h.

RobotDynamics::Body FixedAndMovableJoint::body_b

Definition at line 783 of file Fixtures.h.

unsigned int FixedAndMovableJoint::body_b_fixed_id

Definition at line 781 of file Fixtures.h.

unsigned int FixedAndMovableJoint::body_b_id

Definition at line 780 of file Fixtures.h.

RobotDynamics::Body FixedAndMovableJoint::body_c

Definition at line 783 of file Fixtures.h.

unsigned int FixedAndMovableJoint::body_c_fixed_id

Definition at line 781 of file Fixtures.h.

unsigned int FixedAndMovableJoint::body_c_id

Definition at line 780 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::C_fixed

Definition at line 797 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::C_movable

Definition at line 790 of file Fixtures.h.

RobotDynamics::Math::MatrixNd FixedAndMovableJoint::H_fixed

Definition at line 798 of file Fixtures.h.

RobotDynamics::Math::MatrixNd FixedAndMovableJoint::H_movable

Definition at line 791 of file Fixtures.h.

RobotDynamics::Joint FixedAndMovableJoint::joint_a

Definition at line 784 of file Fixtures.h.

RobotDynamics::Joint FixedAndMovableJoint::joint_b

Definition at line 784 of file Fixtures.h.

RobotDynamics::Joint FixedAndMovableJoint::joint_c

Definition at line 784 of file Fixtures.h.

RobotDynamics::Model* FixedAndMovableJoint::model_fixed

Definition at line 777 of file Fixtures.h.

RobotDynamics::Model* FixedAndMovableJoint::model_movable

Definition at line 778 of file Fixtures.h.

RobotDynamics::Math::Vector3d FixedAndMovableJoint::point_acceleration

Definition at line 800 of file Fixtures.h.

RobotDynamics::Math::Vector3d FixedAndMovableJoint::point_position

Definition at line 800 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::Q

Definition at line 786 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::Q_fixed

Definition at line 793 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::QDDot

Definition at line 788 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::QDDot_fixed

Definition at line 795 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::QDot

Definition at line 787 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::QDot_fixed

Definition at line 794 of file Fixtures.h.

unsigned int FixedAndMovableJoint::ref_body_id

Definition at line 780 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::Tau

Definition at line 789 of file Fixtures.h.

RobotDynamics::Math::VectorNd FixedAndMovableJoint::Tau_fixed

Definition at line 796 of file Fixtures.h.

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

• Fixtures.h