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Ravelin
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Computes forward dynamics using composite-rigid body method. More...
#include <CRBAlgorithmd.h>
Public Member Functions | |
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boost::shared_ptr < RC_ARTICULATED_BODY > | get_body () const |
| void | set_body (boost::shared_ptr< RC_ARTICULATED_BODY > body) |
| void | calc_fwd_dyn () |
| void | apply_impulse (const SMOMENTUM &w, boost::shared_ptr< RIGIDBODY > link) |
| void | calc_generalized_inertia (SHAREDMATRIXN &M) |
| void | calc_generalized_inertia (SHAREDMATRIXN &M, boost::shared_ptr< const POSE3 > P) |
| void | calc_generalized_forces (SFORCE &f0, VECTORN &C) |
| void | calc_generalized_forces_noinertial (SFORCE &f0, VECTORN &C) |
| bool | factorize_cholesky (MATRIXN &M) |
| VECTORN & | M_solve (VECTORN &xb) |
| SHAREDVECTORN & | M_solve (SHAREDVECTORN &xb) |
| MATRIXN & | M_solve (MATRIXN &XB) |
| SHAREDMATRIXN & | M_solve (SHAREDMATRIXN &XB) |
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boost::shared_ptr < RC_ARTICULATED_BODY > | get_body () const |
| void | set_body (boost::shared_ptr< RC_ARTICULATED_BODY > body) |
| void | calc_fwd_dyn () |
| void | apply_impulse (const SMOMENTUM &w, boost::shared_ptr< RIGIDBODY > link) |
| void | calc_generalized_inertia (SHAREDMATRIXN &M) |
| void | calc_generalized_inertia (SHAREDMATRIXN &M, boost::shared_ptr< const POSE3 > P) |
| void | calc_generalized_forces (SFORCE &f0, VECTORN &C) |
| void | calc_generalized_forces_noinertial (SFORCE &f0, VECTORN &C) |
| bool | factorize_cholesky (MATRIXN &M) |
| VECTORN & | M_solve (VECTORN &xb) |
| SHAREDVECTORN & | M_solve (SHAREDVECTORN &xb) |
| MATRIXN & | M_solve (MATRIXN &XB) |
| SHAREDMATRIXN & | M_solve (SHAREDMATRIXN &XB) |
Friends | |
| class | RC_ARTICULATED_BODY |
Computes forward dynamics using composite-rigid body method.
1.8.6