Rigid Body Dynamics Library
Public Member Functions | Data Fields
CustomJoint Struct Referenceabstract

Public Member Functions

 CustomJoint ()
 
virtual ~CustomJoint ()
 
virtual void jcalc (Model &model, unsigned int joint_id, const Math::VectorNd &q, const Math::VectorNd &qdot)=0
 
virtual void jcalc_X_lambda_S (Model &model, unsigned int joint_id, const Math::VectorNd &q)=0
 

Data Fields

unsigned int mDoFCount
 
Math::SpatialTransform XJ
 
Math::MatrixNd S
 
Math::MatrixNd U
 
Math::MatrixNd Dinv
 
Math::VectorNd u
 
Math::VectorNd d_u
 

Detailed Description

Definition at line 678 of file Joint.h.

Constructor & Destructor Documentation

◆ CustomJoint()

CustomJoint ( )
inline

Definition at line 679 of file Joint.h.

◆ ~CustomJoint()

virtual ~CustomJoint ( )
inlinevirtual

Definition at line 681 of file Joint.h.

References RigidBodyDynamics::jcalc(), and RigidBodyDynamics::jcalc_X_lambda_S().

Member Function Documentation

◆ jcalc()

virtual void jcalc ( Model &  model,
unsigned int  joint_id,
const Math::VectorNd &  q,
const Math::VectorNd &  qdot 
)
pure virtual

◆ jcalc_X_lambda_S()

virtual void jcalc_X_lambda_S ( Model &  model,
unsigned int  joint_id,
const Math::VectorNd &  q 
)
pure virtual

Field Documentation

◆ d_u

Math::VectorNd d_u

Definition at line 699 of file Joint.h.

◆ Dinv

Math::MatrixNd Dinv

Definition at line 697 of file Joint.h.

◆ mDoFCount

unsigned int mDoFCount

Definition at line 693 of file Joint.h.

◆ S

Math::MatrixNd S

Definition at line 695 of file Joint.h.

◆ U

Math::MatrixNd U

Definition at line 696 of file Joint.h.

◆ u

Math::VectorNd u

Definition at line 698 of file Joint.h.

◆ XJ

Math::SpatialTransform XJ

Definition at line 694 of file Joint.h.

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