Model_formatted.cc File Reference

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Functions
unsigned int	AddBodyFixedJoint (Model &model, const unsigned int parent_id, const SpatialTransform &joint_frame, const Joint &UNUSED(joint), const Body &body, std::string body_name)
unsigned int	AddBodyMultiDofJoint (Model &model, const unsigned int parent_id, const SpatialTransform &joint_frame, const Joint &joint, const Body &body, std::string body_name)

Function Documentation

AddBodyFixedJoint()

unsigned int AddBodyFixedJoint	(	Model &	model,
		const unsigned int	parent_id,
		const SpatialTransform &	joint_frame,
		const Joint &	UNUSEDjoint,
		const Body &	body,
		std::string	body_name
	)

Definition at line 85 of file Model_formatted.cc.

References FixedBody::CreateFromBody(), SpatialRigidBodyInertia::createFromMassComInertiaC(), Model::fixed_body_discriminator, Model::I, Model::IsFixedBodyId(), Body::Join(), Model::mBodies, Model::mBodyNameMap, Body::mCenterOfMass, Model::mFixedBodies, Body::mInertia, Body::mMass, FixedBody::mMovableParent, and FixedBody::mParentTransform.

AddBodyMultiDofJoint()

unsigned int AddBodyMultiDofJoint	(	Model &	model,
		const unsigned int	parent_id,
		const SpatialTransform &	joint_frame,
		const Joint &	joint,
		const Body &	body,
		std::string	body_name
	)

Definition at line 141 of file Model_formatted.cc.

References Model::AddBody(), Model::AddBodyCustomJoint(), AddBodyFixedJoint(), Model::AppendBody(), SpatialRigidBodyInertia::createFromMassComInertiaC(), Joint::custom_joint_index, RigidBodyDynamics::JointType1DoF, RigidBodyDynamics::JointType2DoF, RigidBodyDynamics::JointType3DoF, RigidBodyDynamics::JointType4DoF, RigidBodyDynamics::JointType5DoF, RigidBodyDynamics::JointType6DoF, RigidBodyDynamics::JointTypeCustom, RigidBodyDynamics::JointTypeEulerXYZ, RigidBodyDynamics::JointTypeEulerYXZ, RigidBodyDynamics::JointTypeEulerZXY, RigidBodyDynamics::JointTypeEulerZYX, RigidBodyDynamics::JointTypeFixed, RigidBodyDynamics::JointTypeFloatingBase, RigidBodyDynamics::JointTypeHelical, RigidBodyDynamics::JointTypePrismatic, RigidBodyDynamics::JointTypeRevolute, RigidBodyDynamics::JointTypeRevoluteX, RigidBodyDynamics::JointTypeRevoluteY, RigidBodyDynamics::JointTypeRevoluteZ, RigidBodyDynamics::JointTypeSpherical, RigidBodyDynamics::JointTypeTranslationXYZ, RigidBodyDynamics::JointTypeUndefined, Body::mCenterOfMass, Joint::mDoFCount, CustomJoint::mDoFCount, Body::mInertia, Body::mIsVirtual, Joint::mJointAxes, Joint::mJointType, and Body::mMass.