Joint state returned by jcalc. More...
Public Member Functions | |
XSvc () | |
Null constructor. More... | |
Public Attributes | |
spatialTransform | X |
The joint transformation. More... | |
compactSpatialTensor | S |
The joint motion sub-space (3-DoF) More... | |
spatialVector | S1 |
The joint motion sub-space (1-DoF) More... | |
spatialVector | v |
The constrained joint velocity. More... | |
spatialVector | c |
The constrained joint acceleration correction. More... | |
The joint transformation.
Definition at line 142 of file joint.H.
Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), Px::jcalc(), Py::jcalc(), Rz::jcalc(), Rx::jcalc(), Pz::jcalc(), Ry::jcalc(), Pxyz::jcalc(), Pa::jcalc(), Ra::jcalc(), Ryxz::jcalc(), Rzyx::jcalc(), Rxyz::jcalc(), and Rs::jcalc().
The joint motion sub-space (3-DoF)
Definition at line 147 of file joint.H.
Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), Pxyz::jcalc(), Rzyx::jcalc(), Ryxz::jcalc(), Rxyz::jcalc(), and Rs::jcalc().
The joint motion sub-space (1-DoF)
Definition at line 152 of file joint.H.
Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), Pz::jcalc(), Rz::jcalc(), Ry::jcalc(), Rx::jcalc(), Pa::jcalc(), Px::jcalc(), Py::jcalc(), and Ra::jcalc().
The constrained joint velocity.
Definition at line 157 of file joint.H.
Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), Px::jcalc(), Py::jcalc(), Rz::jcalc(), Rx::jcalc(), Pz::jcalc(), Ry::jcalc(), Pxyz::jcalc(), Pa::jcalc(), Ra::jcalc(), Ryxz::jcalc(), Rzyx::jcalc(), Rxyz::jcalc(), and Rs::jcalc().
The constrained joint acceleration correction.
due to changes in the motion sub-space S
Definition at line 164 of file joint.H.
Referenced by rigidBodyModel::forwardDynamics(), rigidBodyModel::forwardDynamicsCorrection(), Px::jcalc(), Py::jcalc(), Rz::jcalc(), Rx::jcalc(), Pz::jcalc(), Ry::jcalc(), Pxyz::jcalc(), Pa::jcalc(), Ra::jcalc(), Ryxz::jcalc(), Rzyx::jcalc(), Rxyz::jcalc(), and Rs::jcalc().
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