Keeps the information of a body and how it is attached to another body. More...

#include <Body.h>

Static Public Member Functions
static FixedBody	CreateFromBody (const Body &body)

Data Fields
Math::Scalar	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...

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.

Definition at line 208 of file Body.h.

Member Function Documentation

◆ CreateFromBody()

static FixedBody CreateFromBody ( const Body & body )

inlinestatic

Definition at line 223 of file Body.h.

References Body::mCenterOfMass, FixedBody::mCenterOfMass, Body::mInertia, FixedBody::mInertia, Body::mMass, and FixedBody::mMass.

Field Documentation

◆ mBaseTransform

Math::SpatialTransform mBaseTransform

Definition at line 221 of file Body.h.

◆ mCenterOfMass

Math::Vector3d mCenterOfMass

The position of the center of mass in body coordinates.

Definition at line 212 of file Body.h.

◆ mInertia

Math::Matrix3d mInertia

The spatial inertia that contains both mass and inertia information.

Definition at line 214 of file Body.h.

◆ mMass

Math::Scalar mMass

The mass of the body.

Definition at line 210 of file Body.h.

◆ mMovableParent

unsigned int mMovableParent

Id of the movable body that this fixed body is attached to.

Definition at line 217 of file Body.h.

◆ mParentTransform

Math::SpatialTransform mParentTransform

Transforms spatial quantities expressed for the parent to the.

Definition at line 220 of file Body.h.

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

include/rbdl/Body.h

Static Public Member Functions

Data Fields