Model.cc File Reference

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

Definition at line 89 of file Model.cc.

References Body::Join(), Body::mCenterOfMass, 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 148 of file Model.cc.

References AddBodyFixedJoint(), AddBodyMultiDofJoint(), Body::mCenterOfMass, Body::mInertia, Body::mIsVirtual, and Body::mMass.