Inheritance diagram for CoRiBoDynamics::Structures::ModifiableRigidElement:

Collaboration diagram for CoRiBoDynamics::Structures::ModifiableRigidElement:

Public Member Functions
	ModifiableRigidElement (int ix_P, int ix_Q, int ix_V, int ix_W)

void	SetDiscreteElement (DiscreteElement *discrete_element)

DiscreteElement *	GetDiscreteElement ()

virtual void	Setup (double T, const double *const X)

virtual const mat6 &	InertialMatrix ()

virtual const vec6 &	Forces ()
	full 6x6 Inertia Matrix More...

Public Member Functions inherited from CoRiBoDynamics::RigidElement
virtual void	Setup (double T, const double *const X)

virtual const mat6 &	InertialMatrix ()=0

virtual const vec6 &	Forces ()=0
	full 6x6 Inertia Matrix More...

const vec3 &	P ()
	Coriolis forces and other.

const Quat &	Q ()
	Position.

const vec3 &	V ()
	Velocity.

const vec3 &	W ()
	Orientation.

const vec3	P (const double *const X)
	Angular velocity.

const Quat	Q (const double *const X)
	Position.

const vec3	V (const double *const X)
	Velocity.

const vec3	W (const double *const X)
	Orientation.

int	ix_P ()
	Angular velocity.

int	ix_Q ()
	index of Position state

int	ix_V ()
	index of Orientation state

int	ix_W ()
	index of Velocity state

int	ix_N ()
	index of Angular velocity state

const mat3 &	RotationMatrix ()
	CoRiBoDynamics element index.

Protected Attributes
DiscreteElement *	m_discrete_element

mat6	m_FullInertiaMatrix

vec6	m_Force

Protected Attributes inherited from CoRiBoDynamics::RigidElement
int	m_ix_N

int	m_ix_P

int	m_ix_Q

int	m_ix_V

int	m_ix_W

vec3	m_P

Quat	m_Q

vec3	m_V

vec3	m_W

mat3	m_RotationMatrix

Additional Inherited Members
Protected Member Functions inherited from CoRiBoDynamics::RigidElement
void	set_element_index (int N)
	Orientation in 3x3 matrix form.

Detailed Description

RigidElement implementation that can delegate its functionality to a runtime-swappable DiscreteElement unit. The specific dynamics of the ModifiableRigidElement depends on which -if any- DiscreteElement it is currently bound to

Member Function Documentation

virtual const vec6 & CoRiBoDynamics::Structures::ModifiableRigidElement::Forces ( )

virtual

DiscreteElement * CoRiBoDynamics::Structures::ModifiableRigidElement::GetDiscreteElement ( )

returns the currently attached discrete element, or nullptr if the rigid element is currently inactive

virtual const mat6 & CoRiBoDynamics::Structures::ModifiableRigidElement::InertialMatrix ( )

virtual

virtual void CoRiBoDynamics::Structures::ModifiableRigidElement::Setup	(	double	T,
		const double *const	X
	)

virtual

Update internal states (position/velocity/inertia etc.)

The basic implementation updates basic state vectors (P,V,Q,W,R) and and kinematic relations (Q_dot)

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