Public Attributes
hrp::CFSImpl::BodyData Struct Reference

List of all members.

Public Attributes

BodyPtr body
Vector3 dpf
Vector3 dptau
ForwardDynamicsMMPtr forwardDynamicsMM
bool hasConstrainedLinks
bool isStatic
bool isTestForceBeingApplied
LinkDataArray linksData
Vector3rootLinkPosRef
 only used by the ForwardDynamicsMM mode

Detailed Description

Definition at line 176 of file ConstraintForceSolver.cpp.


Member Data Documentation

Definition at line 178 of file ConstraintForceSolver.cpp.

Definition at line 184 of file ConstraintForceSolver.cpp.

Definition at line 185 of file ConstraintForceSolver.cpp.

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.

Definition at line 180 of file ConstraintForceSolver.cpp.

Definition at line 179 of file ConstraintForceSolver.cpp.

Definition at line 181 of file ConstraintForceSolver.cpp.

Definition at line 182 of file ConstraintForceSolver.cpp.

only used by the ForwardDynamicsMM mode

Definition at line 188 of file ConstraintForceSolver.cpp.


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


openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Sun Apr 2 2017 03:44:01