Choreonoid  1.5
Classes | Public Types | Public Member Functions | Public Attributes | List of all members
cnoid::DyLink Class Reference

#include <DyBody.h>

Inheritance diagram for cnoid::DyLink:
cnoid::Link cnoid::Referenced

Classes

struct  ConstraintForce
 

Public Types

typedef std::vector< ConstraintForceConstraintForceArray
 

Public Member Functions

 DyLink ()
 
 DyLink (const Link &link)
 
DyLinkparent () const
 
DyLinksibling () const
 
DyLinkchild () const
 
const Vector3vo () const
 
Vector3vo ()
 
const Vector3dvo () const
 
Vector3dvo ()
 
const Vector3sw () const
 
Vector3sw ()
 
const Vector3sv () const
 
Vector3sv ()
 
const Vector3cv () const
 
Vector3cv ()
 
const Vector3cw () const
 
Vector3cw ()
 
const Matrix3Iww () const
 
Matrix3Iww ()
 
const Matrix3Iwv () const
 
Matrix3Iwv ()
 
const Matrix3Ivv () const
 
Matrix3Ivv ()
 
const Vector3pf () const
 
Vector3pf ()
 
const Vector3ptau () const
 
Vector3ptau ()
 
const Vector3hhv () const
 
Vector3hhv ()
 
const Vector3hhw () const
 
Vector3hhw ()
 
double uu () const
 
double & uu ()
 
double dd () const
 
double & dd ()
 
ConstraintForceArrayconstraintForces ()
 
const ConstraintForceArrayconstraintForces () const
 
virtual void prependChild (Link *link)
 
virtual void appendChild (Link *link)
 
- Public Member Functions inherited from cnoid::Referenced
virtual ~Referenced ()
 
void addRef ()
 
void releaseRef ()
 

Public Attributes

 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 

Additional Inherited Members

- Protected Member Functions inherited from cnoid::Referenced
 Referenced ()
 
 Referenced (const Referenced &org)
 
int refCount () const
 

Detailed Description

A Link class used for forward dynamics based on the articulated body method (ABM)

Member Typedef Documentation

Constructor & Destructor Documentation

DyLink::DyLink ( )
DyLink::DyLink ( const Link link)

Member Function Documentation

void DyLink::appendChild ( Link link)
virtual

Reimplemented from cnoid::Link.

DyLink* cnoid::DyLink::child ( ) const
inline
ConstraintForceArray& cnoid::DyLink::constraintForces ( )
inline
const ConstraintForceArray& cnoid::DyLink::constraintForces ( ) const
inline
const Vector3& cnoid::DyLink::cv ( ) const
inline
Vector3& cnoid::DyLink::cv ( )
inline
const Vector3& cnoid::DyLink::cw ( ) const
inline
Vector3& cnoid::DyLink::cw ( )
inline
double cnoid::DyLink::dd ( ) const
inline
double& cnoid::DyLink::dd ( )
inline
const Vector3& cnoid::DyLink::dvo ( ) const
inline
Vector3& cnoid::DyLink::dvo ( )
inline
const Vector3& cnoid::DyLink::hhv ( ) const
inline
Vector3& cnoid::DyLink::hhv ( )
inline
const Vector3& cnoid::DyLink::hhw ( ) const
inline
Vector3& cnoid::DyLink::hhw ( )
inline
const Matrix3& cnoid::DyLink::Ivv ( ) const
inline
Matrix3& cnoid::DyLink::Ivv ( )
inline
const Matrix3& cnoid::DyLink::Iwv ( ) const
inline
Matrix3& cnoid::DyLink::Iwv ( )
inline
const Matrix3& cnoid::DyLink::Iww ( ) const
inline
Matrix3& cnoid::DyLink::Iww ( )
inline
DyLink* cnoid::DyLink::parent ( ) const
inline
const Vector3& cnoid::DyLink::pf ( ) const
inline
Vector3& cnoid::DyLink::pf ( )
inline
void DyLink::prependChild ( Link link)
virtual

Reimplemented from cnoid::Link.

const Vector3& cnoid::DyLink::ptau ( ) const
inline
Vector3& cnoid::DyLink::ptau ( )
inline
DyLink* cnoid::DyLink::sibling ( ) const
inline
const Vector3& cnoid::DyLink::sv ( ) const
inline
Vector3& cnoid::DyLink::sv ( )
inline
const Vector3& cnoid::DyLink::sw ( ) const
inline
Vector3& cnoid::DyLink::sw ( )
inline
double cnoid::DyLink::uu ( ) const
inline
double& cnoid::DyLink::uu ( )
inline
const Vector3& cnoid::DyLink::vo ( ) const
inline
Vector3& cnoid::DyLink::vo ( )
inline

Member Data Documentation

cnoid::DyLink::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

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