hrp::CFSImpl::BodyData Struct Reference

Public Attributes
BodyPtr	body
Vector3	dpf
Vector3	dptau
ForwardDynamicsMMPtr	forwardDynamicsMM
bool	hasConstrainedLinks
bool	isStatic
bool	isTestForceBeingApplied
LinkDataArray	linksData
Vector3 *	rootLinkPosRef
	only used by the ForwardDynamicsMM mode More...

Detailed Description

Definition at line 176 of file ConstraintForceSolver.cpp.

Member Data Documentation

body

BodyPtr hrp::CFSImpl::BodyData::body

Definition at line 178 of file ConstraintForceSolver.cpp.

dpf

Vector3 hrp::CFSImpl::BodyData::dpf

Definition at line 184 of file ConstraintForceSolver.cpp.

dptau

Vector3 hrp::CFSImpl::BodyData::dptau

Definition at line 185 of file ConstraintForceSolver.cpp.

forwardDynamicsMM

ForwardDynamicsMMPtr hrp::CFSImpl::BodyData::forwardDynamicsMM

If the body includes high-gain mode joints, the ForwardDynamisMM object of the body is set to this pointer. The pointer is null when all the joints are torque mode and the forward dynamics is calculated by ABM.

Definition at line 196 of file ConstraintForceSolver.cpp.

hasConstrainedLinks

bool hrp::CFSImpl::BodyData::hasConstrainedLinks

Definition at line 180 of file ConstraintForceSolver.cpp.

isStatic

bool hrp::CFSImpl::BodyData::isStatic

Definition at line 179 of file ConstraintForceSolver.cpp.

isTestForceBeingApplied

bool hrp::CFSImpl::BodyData::isTestForceBeingApplied

Definition at line 181 of file ConstraintForceSolver.cpp.

linksData

LinkDataArray hrp::CFSImpl::BodyData::linksData

Definition at line 182 of file ConstraintForceSolver.cpp.

rootLinkPosRef

Vector3* hrp::CFSImpl::BodyData::rootLinkPosRef

only used by the ForwardDynamicsMM mode

Definition at line 188 of file ConstraintForceSolver.cpp.

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

• ConstraintForceSolver.cpp