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MbsSensor Struct Reference

#include <RobotComponents/components/Feedforward/symbolic_routines/mbs_sensor2.h>

Public Attributes

double A [4]
 Acceleration vector of the sensor expressed in the inertial frame: $A(1:3)=[A_x; A_y; A_z]$.
 
double * J [7]
 Jacobian matrix of the sensor: $J(1:njoint,1:6)=\left[ \frac{\partial V}{\partial \dot q^T} \quad \frac{\partial OM}{\partial \dot q^T} \right]^\top $.
 
double OM [4]
 Angular velocity vector of the sensor expressed in the inertial frame: $OM(1:3)=[\omega_x; \omega_y; \omega_z]$.
 
double OMP [4]
 Angular acceleration vector of the sensor expressed in the inertial frame: $OMP(1:3)=[\dot\omega_x; \dot\omega_y; \dot\omega_z]$.
 
double P [4]
 Position vector of the sensor expressed in the inertial frame: $P(1:3)=[P_x; P_y; P_z]$.
 
double R [4][4]
 Rotation matrix from the inertial frame to the sensor frame: $[\hat{\mathbf{X}}^S]=R(1:3,1:3).[\hat{\mathbf{X}}^0]$.
 
double V [4]
 Velocity vector of the sensor expressed in the inertial frame: $V(1:3)=[V_x; V_y; V_z]$.
 

Detailed Description

Definition at line 18 of file mbs_sensor2.h.

Member Data Documentation

◆ A

double A[4]

Acceleration vector of the sensor expressed in the inertial frame: $A(1:3)=[A_x; A_y; A_z]$.

Definition at line 29 of file mbs_sensor2.h.

◆ J

double* J[7]

Jacobian matrix of the sensor: $J(1:njoint,1:6)=\left[ \frac{\partial V}{\partial \dot q^T} \quad \frac{\partial OM}{\partial \dot q^T} \right]^\top $.

Definition at line 37 of file mbs_sensor2.h.

◆ OM

double OM[4]

Angular velocity vector of the sensor expressed in the inertial frame: $OM(1:3)=[\omega_x; \omega_y; \omega_z]$.

Definition at line 27 of file mbs_sensor2.h.

◆ OMP

double OMP[4]

Angular acceleration vector of the sensor expressed in the inertial frame: $OMP(1:3)=[\dot\omega_x; \dot\omega_y; \dot\omega_z]$.

Definition at line 31 of file mbs_sensor2.h.

◆ P

double P[4]

Position vector of the sensor expressed in the inertial frame: $P(1:3)=[P_x; P_y; P_z]$.

Definition at line 20 of file mbs_sensor2.h.

◆ R

double R[4][4]

Rotation matrix from the inertial frame to the sensor frame: $[\hat{\mathbf{X}}^S]=R(1:3,1:3).[\hat{\mathbf{X}}^0]$.

Definition at line 22 of file mbs_sensor2.h.

◆ V

double V[4]

Velocity vector of the sensor expressed in the inertial frame: $V(1:3)=[V_x; V_y; V_z]$.

Definition at line 25 of file mbs_sensor2.h.

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