Human36 Struct Reference

#include <Human36Fixture.h>

Inheritance diagram for Human36:

Public Types
enum	BodyName {   BodyPelvis, BodyThighRight, BodyShankRight, BodyFootRight,   BodyThighLeft, BodyShankLeft, BodyFootLeft, BodyMiddleTrunk,   BodyUpperTrunk, BodyUpperArmRight, BodyLowerArmRight, BodyHandRight,   BodyUpperArmLeft, BodyLowerArmLeft, BodyHandLeft, BodyHead,   BodyNameLast }
enum	SegmentName {   SegmentPelvis = 0, SegmentThigh, SegmentShank, SegmentFoot,   SegmentMiddleTrunk, SegmentUpperTrunk, SegmentUpperArm, SegmentLowerArm,   SegmentHand, SegmentHead, SegmentNameLast }

Public Member Functions
RobotDynamics::Body	create_body (SegmentName segment)
void	generate ()
	Human36 ()
void	initConstraintSets ()
void	initParameters ()
void	randomizeStates ()
void	SetUp ()
void	TearDown ()

Public Attributes
unsigned int	body_id_3dof [BodyNameLast]
unsigned int	body_id_emulated [BodyNameLast]
RobotDynamics::ConstraintSet	constraints_1B1C_3dof
RobotDynamics::ConstraintSet	constraints_1B1C_emulated
RobotDynamics::ConstraintSet	constraints_1B4C_3dof
RobotDynamics::ConstraintSet	constraints_1B4C_emulated
RobotDynamics::ConstraintSet	constraints_4B4C_3dof
RobotDynamics::ConstraintSet	constraints_4B4C_emulated
RobotDynamics::Model *	model
RobotDynamics::Model *	model_3dof
RobotDynamics::Model *	model_emulated
RobotDynamics::Math::VectorNd	q
RobotDynamics::Math::VectorNd	qddot
RobotDynamics::Math::VectorNd	qddot_3dof
RobotDynamics::Math::VectorNd	qddot_emulated
RobotDynamics::Math::VectorNd	qdot
double	SegmentCOM [SegmentNameLast][3]
double	SegmentLengths [SegmentNameLast]
double	SegmentMass [SegmentNameLast]
double	SegmentRadiiOfGyration [SegmentNameLast][3]
RobotDynamics::Math::VectorNd	tau

Detailed Description

Definition at line 9 of file Human36Fixture.h.

Member Enumeration Documentation

enum Human36::BodyName

Enumerator
BodyPelvis
BodyThighRight
BodyShankRight
BodyFootRight
BodyThighLeft
BodyShankLeft
BodyFootLeft
BodyMiddleTrunk
BodyUpperTrunk
BodyUpperArmRight
BodyLowerArmRight
BodyHandRight
BodyUpperArmLeft
BodyLowerArmLeft
BodyHandLeft
BodyHead
BodyNameLast

Definition at line 46 of file Human36Fixture.h.

enum Human36::SegmentName

Enumerator
SegmentPelvis
SegmentThigh
SegmentShank
SegmentFoot
SegmentMiddleTrunk
SegmentUpperTrunk
SegmentUpperArm
SegmentLowerArm
SegmentHand
SegmentHead
SegmentNameLast

Definition at line 31 of file Human36Fixture.h.

Constructor & Destructor Documentation

Human36::Human36 ( )

inline

Definition at line 398 of file Human36Fixture.h.

Member Function Documentation

RobotDynamics::Body Human36::create_body ( SegmentName  segment )

inline

Definition at line 180 of file Human36Fixture.h.

void Human36::generate ( )

inline

Definition at line 194 of file Human36Fixture.h.

void Human36::initConstraintSets ( )

inline

Definition at line 308 of file Human36Fixture.h.

void Human36::initParameters ( )

inline

Definition at line 75 of file Human36Fixture.h.

void Human36::randomizeStates ( )

inline

Definition at line 384 of file Human36Fixture.h.

void Human36::SetUp ( )

inline

Definition at line 403 of file Human36Fixture.h.

void Human36::TearDown ( )

inline

Definition at line 424 of file Human36Fixture.h.

Member Data Documentation

unsigned int Human36::body_id_3dof[BodyNameLast]

Definition at line 73 of file Human36Fixture.h.

unsigned int Human36::body_id_emulated[BodyNameLast]

Definition at line 72 of file Human36Fixture.h.

RobotDynamics::ConstraintSet Human36::constraints_1B1C_3dof

Definition at line 27 of file Human36Fixture.h.

RobotDynamics::ConstraintSet Human36::constraints_1B1C_emulated

Definition at line 23 of file Human36Fixture.h.

RobotDynamics::ConstraintSet Human36::constraints_1B4C_3dof

Definition at line 28 of file Human36Fixture.h.

RobotDynamics::ConstraintSet Human36::constraints_1B4C_emulated

Definition at line 24 of file Human36Fixture.h.

RobotDynamics::ConstraintSet Human36::constraints_4B4C_3dof

Definition at line 29 of file Human36Fixture.h.

RobotDynamics::ConstraintSet Human36::constraints_4B4C_emulated

Definition at line 25 of file Human36Fixture.h.

RobotDynamics::Model* Human36::model

Definition at line 11 of file Human36Fixture.h.

RobotDynamics::Model* Human36::model_3dof

Definition at line 13 of file Human36Fixture.h.

RobotDynamics::Model* Human36::model_emulated

Definition at line 12 of file Human36Fixture.h.

RobotDynamics::Math::VectorNd Human36::q

Definition at line 15 of file Human36Fixture.h.

RobotDynamics::Math::VectorNd Human36::qddot

Definition at line 17 of file Human36Fixture.h.

RobotDynamics::Math::VectorNd Human36::qddot_3dof

Definition at line 21 of file Human36Fixture.h.

RobotDynamics::Math::VectorNd Human36::qddot_emulated

Definition at line 20 of file Human36Fixture.h.

RobotDynamics::Math::VectorNd Human36::qdot

Definition at line 16 of file Human36Fixture.h.

double Human36::SegmentCOM[SegmentNameLast][3]

Definition at line 69 of file Human36Fixture.h.

double Human36::SegmentLengths[SegmentNameLast]

Definition at line 67 of file Human36Fixture.h.

double Human36::SegmentMass[SegmentNameLast]

Definition at line 68 of file Human36Fixture.h.

double Human36::SegmentRadiiOfGyration[SegmentNameLast][3]

Definition at line 70 of file Human36Fixture.h.

RobotDynamics::Math::VectorNd Human36::tau

Definition at line 18 of file Human36Fixture.h.

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

• Human36Fixture.h