Physsim::RCArticulatedBodyFwdDynAlgo Class Reference

Abstract class for performing forward dynamics computation on a reduced-coordinate articulated body. More...

#include <RCArticulatedBodyFwdDynAlgo.h>

Inheritance diagram for Physsim::RCArticulatedBodyFwdDynAlgo:

List of all members.

Public Member Functions
virtual void	clone (BasePtr &cloned, bimap< BasePtr, BasePtr > *obj_map=NULL) const
	Implements Base::clone().
virtual void	load_state (BaseConstPtr object, bimap< BasePtr, BasePtr > *correspondence=NULL)
	Implements Base::load_state().
virtual void	save_state (BasePtr object, bimap< BasePtr, BasePtr > *correspondence=NULL) const
	Implements Base::save_state().
virtual void	calc_fwd_dyn (RCArticulatedBodyPtr body, ReferenceFrameType rftype)=0
	Virtual method for computing forward dynamics.
virtual void	apply_impulse (RCArticulatedBodyPtr body, const Vector3 &j, const Vector3 &k, const Vector3 &contact_point, RigidBodyPtr link)=0
	Virtual method for applying an impulse to a point on a link in an articulated body.
ReferenceFrameType	get_last_ref_frame () const
	Gets the reference frame last used to compute forward dynamics.
Protected Attributes
ReferenceFrameType	_last_ref_frame
	The reference frame last used to compute forward dynamics.

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Detailed Description

Abstract class for performing forward dynamics computation on a reduced-coordinate articulated body.

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Member Function Documentation

virtual void Physsim::RCArticulatedBodyFwdDynAlgo::calc_fwd_dyn	(	RCArticulatedBodyPtr	body,
		ReferenceFrameType	rftype
	)			[pure virtual]

Virtual method for computing forward dynamics.

Given the current base position and velocity, the joint positions and joint velocities, the external forces on all links (including the base), and the forces applied by the joint actuators, the forward dynamics method must compute the joint accelerations and the spatial link accelerations.

Implemented in Physsim::CRBAlgorithm, and Physsim::FSABAlgorithm.

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Member Data Documentation

ReferenceFrameType Physsim::RCArticulatedBodyFwdDynAlgo::_last_ref_frame [protected]

The reference frame last used to compute forward dynamics.

Note:

derived classes are responsible for setting this variable when computing forward dynamics.

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

• /home/drumwrig/Physsim/include/Physsim/RCArticulatedBodyFwdDynAlgo.h
• /home/drumwrig/Physsim/src/RCArticulatedBodyFwdDynAlgo.cpp

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