joint::XSvc Class Reference

Joint state returned by jcalc. More...

Collaboration diagram for joint::XSvc:

Public Member Functions
	XSvc ()
	Null constructor. More...

Public Attributes
spatialTransform	X
	The joint transformation. More...
compactSpatialTensor	S
	The joint motion sub-space (3-DoF) More...
spatialVector	S1
	The joint motion sub-space (1-DoF) More...
spatialVector	v
	The constrained joint velocity. More...
spatialVector	c
	The constrained joint acceleration correction. More...

Detailed Description

Joint state returned by jcalc.

Definition at line 123 of file joint.H.

Constructor & Destructor Documentation

XSvc()

XSvc ( )

inline

Null constructor.

Definition at line 144 of file joint.H.

Member Data Documentation

X

spatialTransform X

The joint transformation.

Definition at line 128 of file joint.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), function::jcalc(), functionDot::jcalc(), Pa::jcalc(), Px::jcalc(), Pxyz::jcalc(), Py::jcalc(), Pz::jcalc(), Ra::jcalc(), rigid::jcalc(), rotating::jcalc(), Rs::jcalc(), Rx::jcalc(), Rxyz::jcalc(), Ry::jcalc(), Ryxz::jcalc(), Rz::jcalc(), and Rzyx::jcalc().

S

compactSpatialTensor S

The joint motion sub-space (3-DoF)

Definition at line 131 of file joint.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), function::jcalc(), functionDot::jcalc(), Pxyz::jcalc(), rigid::jcalc(), rotating::jcalc(), Rs::jcalc(), Rxyz::jcalc(), Ryxz::jcalc(), and Rzyx::jcalc().

S1

spatialVector S1

The joint motion sub-space (1-DoF)

Definition at line 134 of file joint.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), function::jcalc(), functionDot::jcalc(), Pa::jcalc(), Px::jcalc(), Py::jcalc(), Pz::jcalc(), Ra::jcalc(), rigid::jcalc(), rotating::jcalc(), Rx::jcalc(), Ry::jcalc(), and Rz::jcalc().

v

spatialVector v

The constrained joint velocity.

Definition at line 137 of file joint.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), function::jcalc(), functionDot::jcalc(), Pa::jcalc(), Px::jcalc(), Pxyz::jcalc(), Py::jcalc(), Pz::jcalc(), Ra::jcalc(), rigid::jcalc(), rotating::jcalc(), Rs::jcalc(), Rx::jcalc(), Rxyz::jcalc(), Ry::jcalc(), Ryxz::jcalc(), Rz::jcalc(), and Rzyx::jcalc().

c

spatialVector c

The constrained joint acceleration correction.

due to changes in the motion sub-space S

Definition at line 141 of file joint.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), function::jcalc(), functionDot::jcalc(), Pa::jcalc(), Px::jcalc(), Pxyz::jcalc(), Py::jcalc(), Pz::jcalc(), Ra::jcalc(), rigid::jcalc(), rotating::jcalc(), Rs::jcalc(), Rx::jcalc(), Rxyz::jcalc(), Ry::jcalc(), Ryxz::jcalc(), Rz::jcalc(), and Rzyx::jcalc().

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

• src/rigidBodyMotion/rigidBodyDynamics/joints/joint/joint.H