gcop::Chain1 Class Reference

#include <chain1.h>

Inheritance diagram for gcop::Chain1:

Collaboration diagram for gcop::Chain1:

List of all members.

Public Member Functions
	Chain1 ()
void	Force (VectorXd &f, double t, const MbsState &x, const VectorXd &u, MatrixXd *A=0, MatrixXd *B=0)

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Constructor & Destructor Documentation

Chain1::Chain1

(

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References gcop::Mbs::ag, gcop::Mbs::debug, gcop::Mbs::Init(), gcop::Mbs::joints, gcop::Mbs::links, gcop::Mbs::pis, gcop::SE3::rpyxyz2g(), and gcop::Mbs::se3.

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Member Function Documentation

void Chain1::Force	(	VectorXd &	f,
		double	t,
		const MbsState &	x,
		const VectorXd &	u,
		MatrixXd *	A = 0,
		MatrixXd *	B = 0
	)		[virtual]

Total resulting force on the system from external (e.g. gravity) and internal (control) inputs

Parameters:

f	total force f(x,u,t)
t	time
x	state
u	controls
A	jacobian Dxf
B	jacobian Duf

Reimplemented from gcop::Mbs.

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

• lib/systems/chain1.h
• lib/systems/chain1.cc