Public Member Functions | Private Member Functions | Private Attributes | Friends | List of all members
pLink Class Reference

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
 
Jointjoint
 
fMat M
 
fMat Minv
 
pSubChainsubchain
 

Friends

class pJoint
 
class pSim
 
class pSubChain
 

Detailed Description

Class for representing a single link in a schedule tree.

Definition at line 150 of file psim.h.

Constructor & Destructor Documentation

◆ pLink()

pLink::pLink ( Joint _joint)
inline

Definition at line 156 of file psim.h.

◆ ~pLink()

pLink::~pLink ( )
inline

Definition at line 169 of file psim.h.

Member Function Documentation

◆ calc_acc()

void pLink::calc_acc ( const fVec3 g0)
private

Definition at line 851 of file update.cpp.

◆ calc_inertia()

void pLink::calc_inertia ( )
private

Definition at line 295 of file psim.cpp.

◆ dump()

void pLink::dump ( ostream &  ost)
private

Definition at line 368 of file psim.cpp.

Friends And Related Function Documentation

◆ pJoint

friend class pJoint
friend

Definition at line 153 of file psim.h.

◆ pSim

friend class pSim
friend

Definition at line 152 of file psim.h.

◆ pSubChain

friend class pSubChain
friend

Definition at line 154 of file psim.h.

Member Data Documentation

◆ acc

fVec pLink::acc
private

Definition at line 183 of file psim.h.

◆ c

fVec pLink::c
private

Definition at line 182 of file psim.h.

◆ joint

Joint* pLink::joint
private

Definition at line 177 of file psim.h.

◆ M

fMat pLink::M
private

Definition at line 180 of file psim.h.

◆ Minv

fMat pLink::Minv
private

Definition at line 181 of file psim.h.

◆ subchain

pSubChain* pLink::subchain
private

Definition at line 178 of file psim.h.


The documentation for this class was generated from the following files:


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:07