Model3T::Pimpl Struct Reference

Collaboration diagram for Model3T::Pimpl:

Public Member Functions
	Pimpl (const std::string &robotName)

Public Attributes
VectorXd	q
VectorXd	dq
Displacementd	Hroot
Twistd	Troot
VectorXd	actuatedDofs
VectorXd	lowerLimits
VectorXd	upperLimits
Vector3d	comPosition
Vector3d	comVelocity
Vector3d	comJdotQdot
Matrix< double, 3, Dynamic >	comJacobian
Matrix< double, 3, Dynamic >	comJacobianDot
MatrixXd	M
MatrixXd	Minv
MatrixXd	B
VectorXd	n
VectorXd	l
VectorXd	g
std::vector< Displacementd >	segPosition
std::vector< Twistd >	segVelocity
std::vector< Matrix< double, 6, Dynamic > >	segJacobian
std::vector< Matrix< double, 6, Dynamic > >	segJdot
std::vector< Twistd >	segJdotQdot
std::vector< Matrix< double, 6, Dynamic > >	jointJacobian
std::vector< double >	segMass
std::vector< Vector3d >	segCoM
std::vector< Matrix< double, 6, 6 > >	segMassMatrix
std::vector< Matrix< double, 6, 6 > >	segNLEffects
std::vector< Vector3d >	segMomentsOfInertia
std::vector< Rotation3d >	segInertiaAxes
std::vector< std::string >	segName

Detailed Description

Definition at line 30 of file Model3T.cpp.

Constructor & Destructor Documentation

Model3T::Pimpl::Pimpl ( const std::string &  robotName )

inline

Definition at line 69 of file Model3T.cpp.

Member Data Documentation

VectorXd Model3T::Pimpl::actuatedDofs

Definition at line 38 of file Model3T.cpp.

MatrixXd Model3T::Pimpl::B

Definition at line 50 of file Model3T.cpp.

Matrix< double,3, Dynamic > Model3T::Pimpl::comJacobian

Definition at line 45 of file Model3T.cpp.

Matrix< double,3, Dynamic > Model3T::Pimpl::comJacobianDot

Definition at line 46 of file Model3T.cpp.

Vector3d Model3T::Pimpl::comJdotQdot

Definition at line 44 of file Model3T.cpp.

Vector3d Model3T::Pimpl::comPosition

Definition at line 42 of file Model3T.cpp.

Vector3d Model3T::Pimpl::comVelocity

Definition at line 43 of file Model3T.cpp.

VectorXd Model3T::Pimpl::dq

Definition at line 34 of file Model3T.cpp.

VectorXd Model3T::Pimpl::g

Definition at line 53 of file Model3T.cpp.

Displacementd Model3T::Pimpl::Hroot

Definition at line 35 of file Model3T.cpp.

std::vector< Matrix<double,6,Dynamic> > Model3T::Pimpl::jointJacobian

Definition at line 60 of file Model3T.cpp.

VectorXd Model3T::Pimpl::l

Definition at line 52 of file Model3T.cpp.

VectorXd Model3T::Pimpl::lowerLimits

Definition at line 39 of file Model3T.cpp.

MatrixXd Model3T::Pimpl::M

Definition at line 48 of file Model3T.cpp.

MatrixXd Model3T::Pimpl::Minv

Definition at line 49 of file Model3T.cpp.

VectorXd Model3T::Pimpl::n

Definition at line 51 of file Model3T.cpp.

VectorXd Model3T::Pimpl::q

Definition at line 33 of file Model3T.cpp.

std::vector< Vector3d > Model3T::Pimpl::segCoM

Definition at line 62 of file Model3T.cpp.

std::vector< Rotation3d > Model3T::Pimpl::segInertiaAxes

Definition at line 66 of file Model3T.cpp.

std::vector< Matrix<double,6,Dynamic> > Model3T::Pimpl::segJacobian

Definition at line 57 of file Model3T.cpp.

std::vector< Matrix<double,6,Dynamic> > Model3T::Pimpl::segJdot

Definition at line 58 of file Model3T.cpp.

std::vector< Twistd > Model3T::Pimpl::segJdotQdot

Definition at line 59 of file Model3T.cpp.

std::vector< double > Model3T::Pimpl::segMass

Definition at line 61 of file Model3T.cpp.

std::vector< Matrix<double, 6, 6> > Model3T::Pimpl::segMassMatrix

Definition at line 63 of file Model3T.cpp.

std::vector< Vector3d > Model3T::Pimpl::segMomentsOfInertia

Definition at line 65 of file Model3T.cpp.

std::vector< std::string > Model3T::Pimpl::segName

Definition at line 67 of file Model3T.cpp.

std::vector< Matrix<double, 6, 6> > Model3T::Pimpl::segNLEffects

Definition at line 64 of file Model3T.cpp.

std::vector< Displacementd > Model3T::Pimpl::segPosition

Definition at line 55 of file Model3T.cpp.

std::vector< Twistd > Model3T::Pimpl::segVelocity

Definition at line 56 of file Model3T.cpp.

Twistd Model3T::Pimpl::Troot

Definition at line 36 of file Model3T.cpp.

VectorXd Model3T::Pimpl::upperLimits

Definition at line 40 of file Model3T.cpp.

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

• Model3T.cpp