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ArticulatedComponent Class Reference

#include <ArticulatedComponent.h>

Inheritance diagram for ArticulatedComponent:

ComposedPhysicalObject PhysicalObject GraphicalObject ArticulatedAgentBase ArticulatedLink ArticulatedAgentQuasistatic Iunctus List of all members.

Public Member Functions

Public Attributes


Detailed Description

A component for articulated agents: it may represent the body of the agent, or (extended) an articulated link.

Definition at line 16 of file ArticulatedComponent.h.


Constructor & Destructor Documentation

ArticulatedComponent::ArticulatedComponent std::string  label  ) 
 

Definition at line 12 of file ArticulatedComponent.cpp.

ArticulatedComponent::~ArticulatedComponent  )  [virtual]
 

Destructor; deletes K.

Definition at line 17 of file ArticulatedComponent.cpp.

References deleteK().


Member Function Documentation

void ArticulatedComponent::computeIStar0  ) 
 

Computes the value of IStar0, based on the mass and moment of inertia of the object.

Definition at line 21 of file ArticulatedComponent.cpp.

References IStar, IStar0, real, Matrix3::setRow(), Vector2::x, and Vector2::y.

Referenced by ArticulatedLimb::addOneObjectLink(), and Iunctus::build().

void ArticulatedComponent::deleteK  ) 
 

Deletes K and its components.

Definition at line 31 of file ArticulatedComponent.cpp.

References K, and purgeContainer().

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), and ~ArticulatedComponent().


Member Data Documentation

Vector2 ArticulatedComponent::aLocal
 

The acceleration of the object relative to the LRS, but expressed in the local (object) reference system (ORS); used in the classical model

Definition at line 32 of file ArticulatedComponent.h.

Vector3 ArticulatedComponent::beta
 

Definition at line 26 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics().

Vector3 ArticulatedComponent::betaExternal
 

Definition at line 27 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics().

Vector3 ArticulatedComponent::betaStar
 

Definition at line 28 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), and ArticulatedAgentQuasistatic::forwardAccelerations().

SymmetricMatrix3 ArticulatedComponent::IStar
 

Parameters used by the Featherstone algorithm:

Definition at line 24 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), computeIStar0(), and ArticulatedAgentQuasistatic::forwardAccelerations().

SymmetricMatrix3 ArticulatedComponent::IStar0
 

Definition at line 25 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), and computeIStar0().

LinkContactInfoPVector ArticulatedComponent::K
 

Link contact information used by the Featherstone algorithm.

Definition at line 44 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::backwardDynamics(), deleteK(), and ArticulatedAgentQuasistatic::forwardAccelerations().

unsigned int ArticulatedComponent::nContacts
 

Definition at line 41 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::forwardAccelerations().

LinkContactInfoVector ArticulatedComponent::Q
 

Link contact information used by the Featherstone algorithm. This list contains objects, not pointers.

Definition at line 48 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::computeDerivatives(), and ArticulatedAgentQuasistatic::forwardAccelerations().

Vector2 ArticulatedComponent::vLocal
 

The velocity of the object relative to the LRS, but expressed in the local (object) reference system (ORS); used in the quasistatic model

Definition at line 36 of file ArticulatedComponent.h.

Referenced by ArticulatedAgentQuasistatic::forwardAccelerations().


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

Thyrix homepageUsers' guide

(C) Arxia 2004-2005