joint::XSvc Class Reference

Joint state returned by jcalc. More...

Collaboration diagram for joint::XSvc:

Public Member Functions

 XSvc ()
 Null constructor. More...

Public Attributes

spatialTransform X
 The joint transformation. More...
compactSpatialTensor S
 The joint motion sub-space (3-DoF) More...
spatialVector S1
 The joint motion sub-space (1-DoF) More...
spatialVector v
 The constrained joint velocity. More...
spatialVector c
 The constrained joint acceleration correction. More...

Detailed Description

Joint state returned by jcalc.

Definition at line 124 of file joint.H.

Constructor & Destructor Documentation

◆ XSvc()

XSvc ( )

Null constructor.

Definition at line 145 of file joint.H.

Member Data Documentation

◆ X

◆ S

◆ S1

◆ v

◆ c

The constrained joint acceleration correction.

due to changes in the motion sub-space S

Definition at line 142 of file joint.H.

Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), Px::jcalc(), Py::jcalc(), Rz::jcalc(), Rx::jcalc(), Pz::jcalc(), Ry::jcalc(), Pxyz::jcalc(), Pa::jcalc(), Ra::jcalc(), Ryxz::jcalc(), Rzyx::jcalc(), Rxyz::jcalc(), and Rs::jcalc().

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