DynamicsHelper::DynamicsData Struct Reference

#include <RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h>

Public Member Functions
	DynamicsData (const DynamicsData &r)=default
	DynamicsData (VirtualRobot::RobotNodeSetPtr rnsJoints, VirtualRobot::RobotNodeSetPtr rnsBodies)

Public Attributes
std::vector< rtfilters::RTFilterBasePtr >	accelerationFilter
VirtualRobot::Dynamics	dynamics
std::vector< std::pair< VirtualRobot::RobotNodePtr, SensorValue1DoFActuator * > >	nodeSensorVec
Eigen::VectorXd	q
Eigen::VectorXd	qDDot
Eigen::VectorXd	qDot
VirtualRobot::RobotNodeSetPtr	rnsBodies
VirtualRobot::RobotNodeSetPtr	rnsJoints
Eigen::VectorXd	tau
Eigen::VectorXd	tauGravity
std::vector< rtfilters::RTFilterBasePtr >	velocityFilter

Constructor & Destructor Documentation

DynamicsData() [1/2]

DynamicsData	(	VirtualRobot::RobotNodeSetPtr	rnsJoints,
		VirtualRobot::RobotNodeSetPtr	rnsBodies )

DynamicsData() [2/2]

DynamicsData ( const DynamicsData & r )

default

Member Data Documentation

accelerationFilter

std::vector<rtfilters::RTFilterBasePtr> accelerationFilter

dynamics

VirtualRobot::Dynamics dynamics

nodeSensorVec

std::vector<std::pair<VirtualRobot::RobotNodePtr, SensorValue1DoFActuator*> > nodeSensorVec

q

Eigen::VectorXd q

qDDot

Eigen::VectorXd qDDot

qDot

Eigen::VectorXd qDot

rnsBodies

VirtualRobot::RobotNodeSetPtr rnsBodies

rnsJoints

VirtualRobot::RobotNodeSetPtr rnsJoints

tau

Eigen::VectorXd tau

tauGravity

Eigen::VectorXd tauGravity

velocityFilter

std::vector<rtfilters::RTFilterBasePtr> velocityFilter

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

• RobotAPI/components/units/RobotUnit/util/DynamicsHelper.h
• RobotAPI/components/units/RobotUnit/util/DynamicsHelper.cpp