gcop::MbsState Class Reference

#include <mbsstate.h>

List of all members.

Public Member Functions
	MbsState (int nb=1, bool fixed=false)
	MbsState (const MbsState &x)
Public Attributes
vector< Matrix4d >	gs
	configurations
vector< Vector6d >	vs
	body-fixed velocities
vector< Matrix4d >	dgs
	relative xforms from b/n bodies
VectorXd	r
	joint angles
VectorXd	dr
	joint velocities
vector< bool >	ub
	at upper bound
vector< bool >	lb
	at lower bound
VectorXd	zl
	lower bound spring
VectorXd	zu
	upper bound spring
bool	fixed
	fixed base?

---

Constructor & Destructor Documentation

gcop::MbsState::MbsState	(	int	nb = 1,
		bool	fixed = false
	)		[inline]

gcop::MbsState::MbsState

(

const MbsState &

x

)

[inline]

---

Member Data Documentation

vector<Matrix4d> gcop::MbsState::dgs

relative xforms from b/n bodies

Referenced by gcop::Mbs::Bias(), gcop::Mbs::DBias(), gcop::Mbs::FK(), gcop::Mbs::KStep(), gcop::Mbs::Mass(), gcop::Mbs::NewtonEulerJacobian(), and gcop::Mbs::print().

VectorXd gcop::MbsState::dr

joint velocities

Referenced by gcop::Airbot::Airbot(), gcop::Chain::Chain(), gcop::Mbs::CheckLimits(), gcop::Mbs::ClampVelocity(), gcop::Mbs::EulerStep(), gcop::Airm::Force(), gcop::Airbot::Force(), gcop::Mbs::Force(), gcop::Mbs::HeunStep(), gcop::Mbs::KStep(), gcop::MbsTspace::Lift(), gcop::MbsManifold::Lift(), gcop::Mbs::NE(), gcop::Mbs::print(), gcop::Mbs::Rec(), gcop::MbsTspace::Retract(), gcop::MbsManifold::Retract(), gcop::MbsController::Set(), and gcop::Mbs::TrapStep().

bool gcop::MbsState::fixed

fixed base?

Referenced by gcop::MbsManifold::Adtau(), gcop::MbsManifold::dtau(), gcop::MbsManifold::Lift(), and gcop::MbsManifold::Retract().

vector<Matrix4d> gcop::MbsState::gs

configurations

Referenced by gcop::Airbot::Airbot(), gcop::Mbs::Bias(), gcop::Mbs::ClampPose(), gcop::Mbs::DBias(), gcop::Mbs::FK(), gcop::Mbs::KStep(), gcop::MbsCspace::Lift(), gcop::MbsManifold::Lift(), gcop::Mbs::print(), gcop::Mbs::Rec(), gcop::MbsView::Render(), gcop::MbsCspace::Retract(), gcop::MbsManifold::Retract(), and gcop::MbsController::Set().

vector<bool> gcop::MbsState::lb

at lower bound

Referenced by gcop::Mbs::CheckLimits(), and gcop::Mbs::GetImpulse().

VectorXd gcop::MbsState::r

joint angles

Referenced by gcop::Airbot::Airbot(), gcop::Chain::Chain(), gcop::Mbs::CheckLimits(), gcop::Mbs::FK(), gcop::Mbs::Force(), gcop::Mbs::GetImpulse(), gcop::Mbs::KStep(), gcop::MbsCspace::Lift(), gcop::MbsManifold::Lift(), gcop::Mbs::print(), gcop::Mbs::Rec(), gcop::MbsCspace::Retract(), gcop::MbsManifold::Retract(), and gcop::MbsController::Set().

vector<bool> gcop::MbsState::ub

at upper bound

Referenced by gcop::Mbs::CheckLimits(), and gcop::Mbs::GetImpulse().

vector<Vector6d> gcop::MbsState::vs

body-fixed velocities

Referenced by gcop::Airbot::Airbot(), gcop::Mbs::Bias(), gcop::Mbs::ClampVelocity(), gcop::Mbs::DBias(), gcop::Mbs::EulerStep(), gcop::Mbs::HeunStep(), gcop::Mbs::KStep(), gcop::MbsTspace::Lift(), gcop::MbsManifold::Lift(), gcop::Mbs::NE(), gcop::Mbs::NewtonEulerJacobian(), gcop::Mbs::print(), gcop::Mbs::Rec(), gcop::MbsTspace::Retract(), gcop::MbsManifold::Retract(), gcop::MbsController::Set(), and gcop::Mbs::TrapStep().

VectorXd gcop::MbsState::zl

lower bound spring

Referenced by gcop::Mbs::EulerStep(), and gcop::Mbs::Force().

VectorXd gcop::MbsState::zu

upper bound spring

Referenced by gcop::Mbs::EulerStep(), and gcop::Mbs::Force().

---

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

• lib/systems/manifolds/mbsstate.h