DynamicsParams.hpp
Go to the documentation of this file.
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


snippets
Author(s): Gyula Nagy
autogenerated on Mon Oct 6 2014 01:39:41