rl::mdl::Body Class Reference

#include <Body.h>

Inheritance diagram for rl::mdl::Body:

Public Member Functions
	Body ()
virtual	~Body ()
void	forwardAcceleration ()
void	forwardDynamics1 ()
void	forwardDynamics2 ()
void	forwardDynamics3 ()
void	forwardPosition ()
void	forwardVelocity ()
void	inverseDynamics1 ()
void	inverseDynamics2 ()
void	setCenterOfMass (const ::rl::math::Real &x, const ::rl::math::Real &y, const ::rl::math::Real &z)
void	setMass (const ::rl::math::Real &m)
void	setInertia (const ::rl::math::Real &xx, const ::rl::math::Real &yy, const ::rl::math::Real &zz, const ::rl::math::Real &yz, const ::rl::math::Real &xz, const ::rl::math::Real &xy)
Public Member Functions inherited from rl::mdl::Frame
	Frame ()
virtual	~Frame ()
const Vertex &	getVertexDescriptor () const
virtual void	inverseForce ()
void	setVertexDescriptor (const Vertex &descriptor)
Public Member Functions inherited from rl::mdl::Element
	Element ()
virtual	~Element ()
const ::std::string &	getName () const
void	setName (const ::std::string &name)

Public Attributes
::rl::math::Vector3	cm
bool	collision
::rl::math::ForceVector	fX
::rl::math::Matrix33	ic
::rl::math::Real	m
::std::unordered_set< Body * >	selfcollision
Public Attributes inherited from rl::mdl::Frame
::rl::math::MotionVector	a
::rl::math::MotionVector	c
::rl::math::ForceVector	f
::rl::math::RigidBodyInertia	i
::rl::math::ArticulatedBodyInertia	iA
::rl::math::ForceVector	pA
::rl::math::Transform	t
::rl::math::MotionVector	v
::rl::math::PlueckerTransform	x
Public Attributes inherited from rl::mdl::Element
Compound *	compound

Additional Inherited Members
Public Types inherited from rl::mdl::Frame
typedef ::boost::adjacency_list< ::boost::listS, ::boost::listS, ::boost::bidirectionalS, ::boost::listS >	Tree
typedef Tree::vertex_descriptor	Vertex

Constructor & Destructor Documentation

Body()

rl::mdl::Body::Body

(

)

~Body()

rl::mdl::Body::~Body ( )

virtual

Member Function Documentation

forwardAcceleration()

void rl::mdl::Body::forwardAcceleration ( )

virtual

Reimplemented from rl::mdl::Frame.

forwardDynamics1()

void rl::mdl::Body::forwardDynamics1 ( )

virtual

Reimplemented from rl::mdl::Frame.

forwardDynamics2()

void rl::mdl::Body::forwardDynamics2 ( )

virtual

Reimplemented from rl::mdl::Frame.

forwardDynamics3()

void rl::mdl::Body::forwardDynamics3 ( )

virtual

Reimplemented from rl::mdl::Frame.

forwardPosition()

void rl::mdl::Body::forwardPosition ( )

virtual

Reimplemented from rl::mdl::Frame.

forwardVelocity()

void rl::mdl::Body::forwardVelocity ( )

virtual

Reimplemented from rl::mdl::Frame.

inverseDynamics1()

void rl::mdl::Body::inverseDynamics1 ( )

virtual

Reimplemented from rl::mdl::Frame.

inverseDynamics2()

void rl::mdl::Body::inverseDynamics2 ( )

virtual

Reimplemented from rl::mdl::Frame.

setCenterOfMass()

void rl::mdl::Body::setCenterOfMass	(	const ::rl::math::Real &	x,
		const ::rl::math::Real &	y,
		const ::rl::math::Real &	z
	)

setInertia()

void rl::mdl::Body::setInertia	(	const ::rl::math::Real &	xx,
		const ::rl::math::Real &	yy,
		const ::rl::math::Real &	zz,
		const ::rl::math::Real &	yz,
		const ::rl::math::Real &	xz,
		const ::rl::math::Real &	xy
	)

setMass()

void rl::mdl::Body::setMass

(

const ::rl::math::Real &

m

)

Member Data Documentation

cm

::rl::math::Vector3 rl::mdl::Body::cm

collision

bool rl::mdl::Body::collision

fX

::rl::math::ForceVector rl::mdl::Body::fX

ic

::rl::math::Matrix33 rl::mdl::Body::ic

m

::rl::math::Real rl::mdl::Body::m

selfcollision

::std::unordered_set<Body*> rl::mdl::Body::selfcollision

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

• rl/mdl/Body.h
• rl/mdl/Body.cpp