Keeps the information of a body and how it is attached to another body. More...
#include <Body.hpp>
Static Public Member Functions | |
| static FixedBody | CreateFromBody (const Body &body) |
Public Attributes | |
| double | mMass |
| The mass of the body. More... | |
| Math::Vector3d | mCenterOfMass |
| The position of the center of mass in body coordinates. More... | |
| Math::Matrix3d | mInertia |
| The spatial inertia that contains both mass and inertia information. More... | |
| double | volume |
| Math::Vector3d | mCenterOfBuoyancy |
| Math::SpatialMatrix | addedMassMatrix |
| DragData | dragData |
| unsigned int | mMovableParent |
| Id of the movable body that this fixed body is attached to. More... | |
| Math::SpatialTransform | mParentTransform |
| Transforms spatial quantities expressed for the parent to the. More... | |
| Math::SpatialTransform | mBaseTransform |
Detailed Description
Keeps the information of a body and how it is attached to another body.
When using fixed bodies, i.e. a body that is attached to anothe via a fixed joint, the attached body is merged onto its parent. By doing so adding fixed joints do not have an impact on runtime.
Member Function Documentation
◆ CreateFromBody()
Member Data Documentation
◆ addedMassMatrix
| Math::SpatialMatrix RobotDynamics::FixedBody::addedMassMatrix |
The hydrodynamic added mass for the body
◆ dragData
| DragData RobotDynamics::FixedBody::dragData |
The hydrodynamic drag data for the body
◆ mBaseTransform
| Math::SpatialTransform RobotDynamics::FixedBody::mBaseTransform |
◆ mCenterOfBuoyancy
| Math::Vector3d RobotDynamics::FixedBody::mCenterOfBuoyancy |
Center of buoyancy for a body
◆ mCenterOfMass
| Math::Vector3d RobotDynamics::FixedBody::mCenterOfMass |
The position of the center of mass in body coordinates.
◆ mInertia
| Math::Matrix3d RobotDynamics::FixedBody::mInertia |
The spatial inertia that contains both mass and inertia information.
◆ mMass
| double RobotDynamics::FixedBody::mMass |
The mass of the body.
◆ mMovableParent
| unsigned int RobotDynamics::FixedBody::mMovableParent |
Id of the movable body that this fixed body is attached to.
◆ mParentTransform
| Math::SpatialTransform RobotDynamics::FixedBody::mParentTransform |
Transforms spatial quantities expressed for the parent to the.
◆ volume
| double RobotDynamics::FixedBody::volume |
Volume taken up by body.
The documentation for this struct was generated from the following file:
- rdl_dynamics/include/rdl_dynamics/Body.hpp
