RobotDynamics::FixedBody Struct Reference

Keeps the information of a body and how it is attached to another body. More...

#include <Body.h>

Static Public Member Functions
static FixedBody	CreateFromBody (const Body &body)

Public Attributes
Math::SpatialTransform	mBaseTransform
Math::Vector3d	mCenterOfMass
	The position of the center of mass in body coordinates. More...
Math::Matrix3d	mInertia
	The spatial inertia that contains both mass and inertia information. More...
double	mMass
	The mass of the body. More...
unsigned int	mMovableParent
	Id of the movable body that this fixed body is attached to. More...
Math::SpatialTransform	mParentTransform
	Transforms spatial quantities expressed for the parent to the. More...

Detailed Description

Keeps the information of a body and how it is attached to another body.

When using fixed bodies, i.e. a body that is attached to anothe via a fixed joint, the attached body is merged onto its parent. By doing so adding fixed joints do not have an impact on runtime.

Definition at line 173 of file Body.h.

Member Function Documentation

static FixedBody RobotDynamics::FixedBody::CreateFromBody ( const Body &  body )

inlinestatic

Definition at line 192 of file Body.h.

Member Data Documentation

Math::SpatialTransform RobotDynamics::FixedBody::mBaseTransform

Definition at line 190 of file Body.h.

Math::Vector3d RobotDynamics::FixedBody::mCenterOfMass

The position of the center of mass in body coordinates.

Definition at line 179 of file Body.h.

Math::Matrix3d RobotDynamics::FixedBody::mInertia

The spatial inertia that contains both mass and inertia information.

Definition at line 182 of file Body.h.

double RobotDynamics::FixedBody::mMass

The mass of the body.

Definition at line 176 of file Body.h.

unsigned int RobotDynamics::FixedBody::mMovableParent

Id of the movable body that this fixed body is attached to.

Definition at line 185 of file Body.h.

Math::SpatialTransform RobotDynamics::FixedBody::mParentTransform

Transforms spatial quantities expressed for the parent to the.

Definition at line 189 of file Body.h.

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

• Body.h