00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #ifndef DYNAMICSPARAM_HPP_ 00035 #define DYNAMICSPARAM_HPP_ 00036 #include <labust/simulation/matrixfwd.hpp> 00037 00038 namespace labust 00039 { 00040 namespace simulation 00041 { 00042 struct DynamicsParams 00043 { 00047 DynamicsParams(): 00048 Io(matrix3::Identity()), 00049 Mrb(matrix::Identity()), 00050 Ma(matrix::Identity()), 00051 Crb(matrix::Zero()), 00052 Ca(matrix::Zero()), 00053 Dlin(matrix::Identity()), 00054 Dquad(matrix::Zero()), 00055 rg(vector3::Zero()), 00056 rb(vector3::Zero()), 00057 m(1), 00058 g_acc(9.81), 00059 rho(1000){}; 00063 matrix3 Io; 00067 matrix Mrb,Ma; 00071 matrix Crb,Ca; 00075 matrix Dlin,Dquad; 00079 vector3 rg,rb; 00083 double m, g_acc; 00087 double rho; 00088 }; 00089 } 00090 } 00091 00092 /* ROSUTILS_HPP_ */ 00093 #endif