Robotics Library  0.6.0
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros
Public Member Functions | Public Attributes | List of all members
rl::mdl::Body Class Reference

#include <Body.h>

Inheritance diagram for rl::mdl::Body:
Inheritance graph
[legend]
Collaboration diagram for rl::mdl::Body:
Collaboration graph
[legend]

Public Member Functions

 Body ()
virtual ~Body ()
void forwardAcceleration ()
void forwardDynamics1 ()
void forwardDynamics2 ()
void forwardDynamics3 ()
void forwardPosition ()
void forwardVelocity ()
void inverseDynamics1 ()
void inverseDynamics2 ()
void inverseVelocity1 (const ::rl::math::Real &lambda)
void inverseVelocity2 ()
void inverseVelocity3 ()
void setCenterOfMass (const ::rl::math::Real &x, const ::rl::math::Real &y, const ::rl::math::Real &z)
void setMass (const ::rl::math::Real &m)
void setInertia (const ::rl::math::Real &xx, const ::rl::math::Real &yy, const ::rl::math::Real &zz, const ::rl::math::Real &yz, const ::rl::math::Real &xz, const ::rl::math::Real &xy)
- Public Member Functions inherited from rl::mdl::Frame
 Frame ()
virtual ~Frame ()
const VertexgetVertexDescriptor () const
virtual void inverseForce ()
void setVertexDescriptor (const Vertex &descriptor)
- Public Member Functions inherited from rl::mdl::Element
 Element ()
virtual ~Element ()
const ::std::string & getName () const
void setName (const ::std::string &name)

Public Attributes

::rl::math::Vector3 c
bool collision
::rl::math::ForceVector fX
::rl::math::Matrix33 ic
::rl::math::Real m
::std::tr1::unordered_set< Body * > selfcollision
- Public Attributes inherited from rl::mdl::Frame
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
typedef::boost::adjacency_list
< ::boost::listS,::boost::listS,::boost::bidirectionalS,::boost::listS > 
Tree
::rl::math::MotionVector a
::rl::math::MotionVector c
::rl::math::ForceVector f
::rl::math::RigidBodyInertia i
::rl::math::ArticulatedBodyInertia iA
::rl::math::ForceVector pA
::rl::math::Transform t
::rl::math::MotionVector v
::rl::math::PlueckerTransform x
- Public Attributes inherited from rl::mdl::Element
Compoundcompound

Additional Inherited Members

- Public Types inherited from rl::mdl::Frame
typedef Tree::vertex_descriptor Vertex

Constructor & Destructor Documentation

rl::mdl::Body::Body ( )
rl::mdl::Body::~Body ( )
virtual

Member Function Documentation

void rl::mdl::Body::forwardAcceleration ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::forwardDynamics1 ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::forwardDynamics2 ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::forwardDynamics3 ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::forwardPosition ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::forwardVelocity ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::inverseDynamics1 ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::inverseDynamics2 ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::inverseVelocity1 ( const ::rl::math::Real lambda)
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::inverseVelocity2 ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::inverseVelocity3 ( )
virtual

Reimplemented from rl::mdl::Frame.

void rl::mdl::Body::setCenterOfMass ( const ::rl::math::Real x,
const ::rl::math::Real y,
const ::rl::math::Real z 
)
void rl::mdl::Body::setInertia ( const ::rl::math::Real xx,
const ::rl::math::Real yy,
const ::rl::math::Real zz,
const ::rl::math::Real yz,
const ::rl::math::Real xz,
const ::rl::math::Real xy 
)
void rl::mdl::Body::setMass ( const ::rl::math::Real m)

Member Data Documentation

::rl::math::Vector3 rl::mdl::Body::c
bool rl::mdl::Body::collision
::rl::math::ForceVector rl::mdl::Body::fX
::rl::math::Matrix33 rl::mdl::Body::ic
::rl::math::Real rl::mdl::Body::m
::std::tr1::unordered_set< Body* > rl::mdl::Body::selfcollision

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