gcop::Body2dManifold Class Reference

#include <body2dmanifold.h>

Inheritance diagram for gcop::Body2dManifold:

Collaboration diagram for gcop::Body2dManifold:

List of all members.

Public Member Functions
void	Lift (Vector6d &dx, const Body2dState &xa, const Body2dState &xb)
void	Retract (Body2dState &xb, const Body2dState &xa, const Vector6d &dx)
void	dtau (Matrix6d &M, const Vector6d &v)
void	Adtau (Matrix6d &M, const Vector6d &v)
Static Public Member Functions
static Body2dManifold &	Instance ()

---

Member Function Documentation

void Body2dManifold::Adtau	(	Matrix6d &	M,
		const Vector6d &	v
	)

void Body2dManifold::dtau	(	Matrix6d &	M,
		const Vector6d &	v
	)

Body2dManifold & Body2dManifold::Instance

(

)

[static]

Referenced by Lift(), and Retract().

void Body2dManifold::Lift	(	Vector6d &	dx,
		const Body2dState &	xa,
		const Body2dState &	xb
	)

References Instance().

void Body2dManifold::Retract	(	Body2dState &	xb,
		const Body2dState &	xa,
		const Vector6d &	dx
	)

References Instance().

---

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

• lib/systems/manifolds/body2dmanifold.h
• lib/systems/manifolds/body2dmanifold.cc