Frame class definition. More...

#include <Frame.h>

Inheritance diagram for modelspace::Frame:

[legend]

Public Member Functions
	Frame (const std::string &name, Frame *par=nullptr, bool free=false)
	Constructor for the frame object. More...

virtual	~Frame ()

std::vector< Frame * >	frameChildren ()
	Return all children of the frame as a vector of frames. More...

Frame *	getFrameByAddress (const std::string &address)
	Function to get an object from the graph tree by string address. More...

Joint &	tJoint ()
	Function to get reference to the frame's translational joint. More...

Joint &	rJoint ()
	Function to get reference to the frame's rotational joint. More...

int	parent (Frame *new_parent)
	Function to assign the frame's parent via pointer. More...

int	parent (Frame &new_parent)

Frame *	parent ()

void	setParentRelAcceleration (clockwerk::CartesianVector< 3 > accel)
	Function to set parent relative acceleration of frame. More...

void	setParentRelAngularAcceleration (clockwerk::CartesianVector< 3 > alpha)
	Function to set parent relative angular acceleration. More...

clockwerk::CartesianVector< 3 >	parentRelAcceleration ()
	Function to get the acceleration of the frame relative to parent expressed in parent coords. More...

clockwerk::CartesianVector< 3 >	parentRelAngularAcceleration ()
	Function to get angular acceleration relative to parent in frame coords. More...

void	rootRelPosition (clockwerk::CartesianVector< 3 > &pos_o_root__root)
	Returns the position of the frame origin wrt the root origin, in root coordinates. More...

clockwerk::CartesianVector< 3 >	rootRelPosition ()

void	rootRelVelocity (clockwerk::CartesianVector< 3 > &vel_o_root__root)
	Returns the velocity of the frame origin wrt the root origin, in root coordinates. More...

clockwerk::CartesianVector< 3 >	rootRelVelocity ()

void	rootRelAcceleration (clockwerk::CartesianVector< 3 > &acc_o_root__root)
	Returns the acceleration of the frame origin wrt the root origin, in root coordinates. More...

clockwerk::CartesianVector< 3 >	rootRelAcceleration ()

void	rootRelQuaternion (clockwerk::Quaternion &quat_f_root)
	Returns the quaternion representing the frame origin wrt the root frame. More...

clockwerk::Quaternion	rootRelQuaternion ()

void	rootRelDCM (clockwerk::DCM &dcm_f_root)
	Returns the clockwerk::DCM of the frame origin wrt the root frame. More...

clockwerk::DCM	rootRelDCM ()

void	rootRelAngularVelocity (clockwerk::CartesianVector< 3 > &w_f_root__f)
	Returns the angular velocity of the frame origin wrt the root, expressed in this frame's coordinates. More...

clockwerk::CartesianVector< 3 >	rootRelAngularVelocity ()

void	rootRelAngularAcceleration (clockwerk::CartesianVector< 3 > &alpha_f_root__f)
	Returns the angular acceleration of the frame origin wrt the root, expressed in this frame's coordinates. More...

clockwerk::CartesianVector< 3 >	rootRelAngularAcceleration ()

int	calcFrameTreeExtForcesMoments ()
	Function to recurse through the body and its children to apply external forces and moments to the "correct" body by resolving them to locations where there are degrees of freedom. More...

int	calcFrameTreeExtAcceleration ()
	Function to recurse through the body and its children to resolve applied external forces and moments into acceleration and angular acceleration. More...

void	integrator (void *integ_ptr)
	Getter and setter for integrator pointer. More...

void *	integrator ()

void	setStateFromStateVector (const std::array< floating_point, 13 > &state_f_p__f)
	Function to set frame state based on NUM_INTEGRATED_STATES-element state vector. More...

void	getStateAsStateVector (std::array< floating_point, 13 > &state_f_p__f)
	Function to return frame state as a NUM_INTEGRATED_STATES-element state vector. More...

void	getStateVectorDot (std::array< floating_point, 13 > &state_dot)
	Function to get the rate of change in the frame state vector. More...

int	setRootRelPosition (const clockwerk::CartesianVector< 3 > &pos_f_root__root)
	Function to set the frame's position relative to root. More...

int	setRootRelVelocity (const clockwerk::CartesianVector< 3 > &vel_f_root__root)
	Function to set the frame's velocity relative to root. More...

int	setRootRelAttitude (const clockwerk::Quaternion &quat_f_root)
	Function to set the frame's attitude relative to root. More...

int	setRootRelAngularVelocity (const clockwerk::CartesianVector< 3 > &w_f_root__f)
	Function to set the frame's position relative to root. More...

Frame *	getFrameRootPointer ()
	Function to get a pointer to this frame's root frame. More...

void	dump ()
	Dump all information associated with the frame. More...

Public Member Functions inherited from clockwerk::GraphTreeObject
	GraphTreeObject (const char gt_nme="", GraphTreeObject *storage_array=nullptr, uint32 storage_size=0)
	Name-based constructor for GraphTreeObject which will have no children by default. More...

virtual	~GraphTreeObject ()
	Destructor. More...

GraphTreeObject *	parent ()
	Functions to get object's parent/children. More...

GraphTreeObject **	children ()

GraphTreeObject *	childAtIndex (uint8 i) const

int16	parent (GraphTreeObject *new_parent)
	Function to assign the node's parent via pointer. More...

int16	parent (GraphTreeObject &new_parent)
	Function to assign the node's parent via reference. More...

uint8	nChildren () const
	Getters for number of children and descendants. More...

uint16	nDescendants () const

uint8	capacity () const

const char *	name () const
	Getter and setter for object name. More...

int16	name (const char *new_name)

uint8	rank ()
	Getter for the object rank. More...

int8	type ()
	Function to indicate type – -1 by default unless implemented downstream. More...

bool	loggable ()
	Getter for object logability flag – note no setter because should only be set by this or a derived class in its definition. More...

GraphTreeObject *	getRootDataPointer ()
	Get the pointer to the highest object in the graph tree. More...

virtual int16	str (char *output, size_t size) const
	Get object represented as string. More...

virtual int16	fromStr (const char *val)
	Set value of graphtreeobject from string. More...

Public Attributes
clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	pos_f_p__p

clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	vel_f_p__p

clockwerk::DataIO< clockwerk::Quaternion >	quat_f_p

clockwerk::DataIO< clockwerk::CartesianVector< 3 > >	ang_vel_f_p__f

clockwerk::DataIO< Frame * >	self_id = clockwerk::DataIO<Frame*>(nullptr, "self_id", this)

Protected Attributes
clockwerk::CartesianVector< 3 >	_acc_f_p__p

clockwerk::CartesianVector< 3 >	_alpha_f_p__f

Joint	_t_joint

Joint	_r_joint
	Translational. More...

void *	_integrator_ptr = nullptr
	Rotational. More...

Frame *	_parent
	Variable to hold our parent. More...

Protected Attributes inherited from clockwerk::GraphTreeObject
GraphTreeObject *	_parent = nullptr

GraphTreeObject **	_children_ptr = nullptr

uint32	_max_num_children = 0

uint16	_num_descendants = 0

char	_name [MAXIMUM_NAME_CHARS] = ""
	String name for object. More...

uint8	_num_children = 0
	Number of direct children of the tree (not including the tree itself) More...

uint8	_rank = 0

int8	_graph_tree_type = BASE_GRAPH_TREE
	Variable to store graph tree object type. More...

bool	_loggable = false
	Variable to indicate whether the selected object is loggable. Set to false by default. More...

uint32	_index = 0
	Index pointing to the next write location for the graph tree children. More...

Additional Inherited Members
Protected Member Functions inherited from clockwerk::GraphTreeObject
int16	_setStorage (GraphTreeObject **storage_array, uint8 storage_size)
	Getter for object's string address. More...

void	_recalculateDescendants ()
	Function to recursively re-calculate the number of descendants of a given node on the tree. More...

void	_recalculateRank ()
	Function to recursively re-calculate the rank of a given node on the tree. More...

int16	_addChild (GraphTreeObject *child)
	Function to decompose a string into a series of substrings via indexing. More...

int16	_removeChild (GraphTreeObject *child)
	Function to remove a child from the graph node's children. More...

Detailed Description

Frame class definition.

This file defines the frame class, which is the base of all 6-DOF kinematics and dynamics. This frame class is designed for recursive chaining, and represents the relationship of a frame to its parent.

The frame class tracks the frame's relationship to its parent via the following four key parameters: pos_f_p__p - The position of the child frame relative to its parent, in PARENT coords vel_f_p__p - The velocity of the child frame IN THE PARENT Frame , in PARENT coords. quat_f_p - The attitude quaternion of the child frame relative to its parent ang_vel_f_p__f - The angular velocity of the child frame relative to its parent, in Frame coords

Frame relationships to their parents are also defined by the Joint class, which is a method for tracking the degrees of freedom (and thus, which channels can have a nonzero velocity value). Each frame has a translational and rotational joint, which sets degrees of freedom in the velocity (represented in parent coordinates) and angular velocity (represented in frame coordinates). The frame joint is set to fully fixed by default, but can be set to free or modified later.

Frame states may be set by calling the parent relative states directly (they are DataIO objects, but buyer beware that you can set the frame states with almost no restrictions.)

Alternatively, users may get and set frame states relative to the root frame by calling the root relative functions which are provided by this class. The functions rootRelPosition, rootRelVelocity, rootRel... and so on all return the frame state relative to root. The functions setRootRel... will set the frame's state relative to the root frame. For many applications it is better to work with the root functions, rather than parent relative functions.

Naming conventions

The naming convention for all vectors is: variablename_obj1_obj2__frameN (note the double underscore preceding frame) and reads back as: "variable variablename representing the relationship between obj1 and obj2 represented in frameN"
The naming convention for attitude representations is the same as the above, with the trailing frame representation omitted.
The omega vector is sometimes denoted by w and assumed frame consistent with the attitude representation. For example, if a clockwerk::DCM represents the relative orientation between two frames [BN] the omega vector is assumed to be w_(B/N)
The frame represented by this class is denoted with "f" for simplicity
Unless otherwise noted angles and angular rates are in RADIANS
Where relevant and unless otherwise noted, all units are metric

Constructor & Destructor Documentation

◆ Frame()

modelspace::Frame::Frame	(	const std::string &	name,
		Frame *	par = `nullptr`,
		bool	free = `false`
	)

Constructor for the frame object.

Parameters

name	Name of the frame
par	Parent of the frame. Defaults to nullptr
free	Boolean indicating whether frame should be free or fixed.

◆ ~Frame()

virtual modelspace::Frame::~Frame ( )

inlinevirtual

Member Function Documentation

◆ calcFrameTreeExtAcceleration()

int modelspace::Frame::calcFrameTreeExtAcceleration ( )

Function to recurse through the body and its children to resolve applied external forces and moments into acceleration and angular acceleration.

Note: Implicitly applies acceleration/ang accel to the body frame; Assumes calcBodyTreeForcesMoments has been called to calculate forces/moments

◆ calcFrameTreeExtForcesMoments()

int modelspace::Frame::calcFrameTreeExtForcesMoments ( )

Function to recurse through the body and its children to apply external forces and moments to the "correct" body by resolving them to locations where there are degrees of freedom.

◆ dump()

void modelspace::Frame::dump ( )

Dump all information associated with the frame.

◆ frameChildren()

std::vector< Frame * > modelspace::Frame::frameChildren ( )

Return all children of the frame as a vector of frames.

Returns: All children of the frame in a single vector

◆ getFrameByAddress()

Frame * modelspace::Frame::getFrameByAddress ( const std::string & address )

Function to get an object from the graph tree by string address.

Parameters

address The exact string address to access the variable with

Returns: Pointer to the frame at the address, or nullptr if address is not valid or returns

◆ getFrameRootPointer()

Frame * modelspace::Frame::getFrameRootPointer ( )

Function to get a pointer to this frame's root frame.

Returns: Pointer to root frame. Pointer to self if this frame is root

◆ getStateAsStateVector()

void modelspace::Frame::getStateAsStateVector ( std::array< floating_point, 13 > & state_f_p__f )

Function to return frame state as a NUM_INTEGRATED_STATES-element state vector.

Parameters

state Return of NUM_INTEGRATED_STATES-element state vector as [pos][vel][quat][omega]

◆ getStateVectorDot()

void modelspace::Frame::getStateVectorDot ( std::array< floating_point, 13 > & state_dot )

Function to get the rate of change in the frame state vector.

Parameters

state_dot Rate of change in each element of the state vector

◆ integrator() [1/2]

void* modelspace::Frame::integrator ( )

inline

◆ integrator() [2/2]

void modelspace::Frame::integrator ( void * integ_ptr )

inline

Getter and setter for integrator pointer.

◆ parent() [1/3]

Frame* modelspace::Frame::parent ( )

inline

◆ parent() [2/3]

int modelspace::Frame::parent ( Frame & new_parent )

inline

◆ parent() [3/3]

int modelspace::Frame::parent ( Frame * new_parent )

Function to assign the frame's parent via pointer.

Parameters

new_parent The new parent to assign the node to

Returns: Error code corresponding to success/failure

Note: This function is the only method to ADD or REMOVE a node from a tree. To add, pass the address to a GraphTreeObject to this function. To remove, pass a nullptr. Note that parents for objects on an existing tree can be reassigned

◆ parentRelAcceleration()

clockwerk::CartesianVector<3> modelspace::Frame::parentRelAcceleration ( )

inline

Function to get the acceleration of the frame relative to parent expressed in parent coords.

Returns: Accel relative to parent in parent coords

◆ parentRelAngularAcceleration()

clockwerk::CartesianVector<3> modelspace::Frame::parentRelAngularAcceleration ( )

inline

Function to get angular acceleration relative to parent in frame coords.

Returns: Angular accel relative to parent in frame coords

◆ rJoint()

Joint& modelspace::Frame::rJoint ( )

inline

Function to get reference to the frame's rotational joint.

Returns: The frame's rotational joint

◆ rootRelAcceleration() [1/2]

clockwerk::CartesianVector< 3 > modelspace::Frame::rootRelAcceleration ( )

◆ rootRelAcceleration() [2/2]

void modelspace::Frame::rootRelAcceleration ( clockwerk::CartesianVector< 3 > & acc_o_root__root )

Returns the acceleration of the frame origin wrt the root origin, in root coordinates.

Parameters

acc_o_root__root Implicit return of acceleration of origin relative to root, in root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelAngularAcceleration() [1/2]

clockwerk::CartesianVector< 3 > modelspace::Frame::rootRelAngularAcceleration ( )

◆ rootRelAngularAcceleration() [2/2]

void modelspace::Frame::rootRelAngularAcceleration ( clockwerk::CartesianVector< 3 > & alpha_f_root__f )

Returns the angular acceleration of the frame origin wrt the root, expressed in this frame's coordinates.

Parameters

alpha_f_root__f Implicit return of angular acceleration relative to root, expressed in f frame

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelAngularVelocity() [1/2]

clockwerk::CartesianVector< 3 > modelspace::Frame::rootRelAngularVelocity ( )

◆ rootRelAngularVelocity() [2/2]

void modelspace::Frame::rootRelAngularVelocity ( clockwerk::CartesianVector< 3 > & w_f_root__f )

Returns the angular velocity of the frame origin wrt the root, expressed in this frame's coordinates.

Parameters

w_f_root__f Implicit return of angular velocity relative to root, expressed in f frame

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelDCM() [1/2]

clockwerk::DCM modelspace::Frame::rootRelDCM ( )

◆ rootRelDCM() [2/2]

void modelspace::Frame::rootRelDCM ( clockwerk::DCM & dcm_f_root )

Returns the clockwerk::DCM of the frame origin wrt the root frame.

Parameters

dcm_f_root Implicit return of attitude relative to root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelPosition() [1/2]

clockwerk::CartesianVector< 3 > modelspace::Frame::rootRelPosition ( )

◆ rootRelPosition() [2/2]

void modelspace::Frame::rootRelPosition ( clockwerk::CartesianVector< 3 > & pos_o_root__root )

Returns the position of the frame origin wrt the root origin, in root coordinates.

Parameters

pos_o_root__root Implicit return of position of origin relative to root, in root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelQuaternion() [1/2]

clockwerk::Quaternion modelspace::Frame::rootRelQuaternion ( )

◆ rootRelQuaternion() [2/2]

void modelspace::Frame::rootRelQuaternion ( clockwerk::Quaternion & quat_f_root )

Returns the quaternion representing the frame origin wrt the root frame.

Parameters

quat_f_root Implicit return of attitude relative to root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ rootRelVelocity() [1/2]

clockwerk::CartesianVector< 3 > modelspace::Frame::rootRelVelocity ( )

◆ rootRelVelocity() [2/2]

void modelspace::Frame::rootRelVelocity ( clockwerk::CartesianVector< 3 > & vel_o_root__root )

Returns the velocity of the frame origin wrt the root origin, in root coordinates.

Parameters

vel_o_root__root Implicit return of velocity of origin relative to root in root

Returns: Error code corresponding to success/failure

Note: Overloaded for explicit and implicit return

◆ setParentRelAcceleration()

void modelspace::Frame::setParentRelAcceleration ( clockwerk::CartesianVector< 3 > accel )

inline

Function to set parent relative acceleration of frame.

Parameters

accel acceleration of frame relative to parent in parent frame coords

◆ setParentRelAngularAcceleration()

void modelspace::Frame::setParentRelAngularAcceleration ( clockwerk::CartesianVector< 3 > alpha )

inline

Function to set parent relative angular acceleration.

Parameters

alpha angular accel of the frame relative to parent in parent frame coords

◆ setRootRelAngularVelocity()

int modelspace::Frame::setRootRelAngularVelocity ( const clockwerk::CartesianVector< 3 > & w_f_root__f )

Function to set the frame's position relative to root.

Parameters

w_f_root__f Angular velocity of this frame wrt root frame origin, as specified in this frame

Note: If parent is not yet assigned, will throw error; With great power comes great responsibility. This thing will set ang vel to whatever you want, minimal questions asked, independent of if you later change attitude, etc.

◆ setRootRelAttitude()

int modelspace::Frame::setRootRelAttitude ( const clockwerk::Quaternion & quat_f_root )

Function to set the frame's attitude relative to root.

Parameters

quat_f_root Attitude of this frame wrt root frame

Note: If parent is not yet assigned, will throw error; With great power comes great responsibility. This thing will set attitude to whatever you want, minimal questions asked, independent of if you later change attitude, etc.

◆ setRootRelPosition()

int modelspace::Frame::setRootRelPosition ( const clockwerk::CartesianVector< 3 > & pos_f_root__root )

Function to set the frame's position relative to root.

Parameters

pos_f_root__root Position of this frame wrt root frame origin, as specified in the root frame

Note: If parent is not yet assigned, will throw error; With great power comes great responsibility. This thing will set position to whatever you want, minimal questions asked, independent of if you later change attitude, etc.

◆ setRootRelVelocity()

int modelspace::Frame::setRootRelVelocity ( const clockwerk::CartesianVector< 3 > & vel_f_root__root )

Function to set the frame's velocity relative to root.

Parameters

vel_f_root__root Velocity of this frame wrt root frame origin, as specified in the root frame

Note: If parent is not yet assigned, will throw error; With great power comes great responsibility. This thing will set velocity to whatever you want, minimal questions asked, independent of if you later change attitude, etc.

◆ setStateFromStateVector()

void modelspace::Frame::setStateFromStateVector ( const std::array< floating_point, 13 > & state_f_p__f )

Function to set frame state based on NUM_INTEGRATED_STATES-element state vector.

Parameters

state NUM_INTEGRATED_STATES-element state vector as [pos][vel][quat][omega]

◆ tJoint()

Joint& modelspace::Frame::tJoint ( )

inline

Function to get reference to the frame's translational joint.

Returns: The frame's translational joint

Member Data Documentation

◆ _acc_f_p__p

clockwerk::CartesianVector<3> modelspace::Frame::_acc_f_p__p

protected

Internal variables to store accelerations applied to this frame. Note: these are not states. They are temporary variables and treated slightly differently.

◆ _alpha_f_p__f

clockwerk::CartesianVector<3> modelspace::Frame::_alpha_f_p__f

protected

◆ _integrator_ptr

void* modelspace::Frame::_integrator_ptr = nullptr

protected

Rotational.

Pointer to the integrator that is integrating this frame. Nullptr if unused

◆ _parent

Frame* modelspace::Frame::_parent

protected

Variable to hold our parent.

◆ _r_joint

Joint modelspace::Frame::_r_joint

protected

Translational.

◆ _t_joint

Joint modelspace::Frame::_t_joint

protected

Translational and rotational joints relating this frame to its parent. Set locked by default.

◆ ang_vel_f_p__f

clockwerk::DataIO<clockwerk::CartesianVector<3> > modelspace::Frame::ang_vel_f_p__f

Initial value:

=

clockwerk::DataIO<clockwerk::CartesianVector<3>>(nullptr, "ang_vel_f_p__f", clockwerk::CartesianVector<3>())

clockwerk::CartesianVector< 3 >

clockwerk::DataIO

Class for inter-object communication.

Definition: DataIO.hpp:59

Angular velocity of the frame with respect to parent, in frame coordinates

◆ pos_f_p__p

clockwerk::DataIO<clockwerk::CartesianVector<3> > modelspace::Frame::pos_f_p__p

Initial value:

=

clockwerk::DataIO<clockwerk::CartesianVector<3>>(nullptr, "pos_f_p__p", clockwerk::CartesianVector<3>())

Position of the frame with respect to parent, in parent coordinates

◆ quat_f_p

clockwerk::DataIO<clockwerk::Quaternion> modelspace::Frame::quat_f_p

Initial value:

=

clockwerk::DataIO<clockwerk::Quaternion>(nullptr, "quat_f_p", clockwerk::Quaternion())

clockwerk::Quaternion

Quaternion class for attitude representation.

Definition: Quaternion.h:68

Attitude quaternion of the frame with respect to parent

◆ self_id

clockwerk::DataIO<Frame*> modelspace::Frame::self_id = clockwerk::DataIO<Frame*>(nullptr, "self_id", this)

◆ vel_f_p__p

clockwerk::DataIO<clockwerk::CartesianVector<3> > modelspace::Frame::vel_f_p__p

Initial value:

=

clockwerk::DataIO<clockwerk::CartesianVector<3>>(nullptr, "vel_f_p__p", clockwerk::CartesianVector<3>())

Velocity of the frame with respect to parent, in parent coordinates. Note that this is the velocity IN the parent frame, which takes into account rotation.

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

/home/mickey/Documents/modelspace/cpp/src/frames/Frame.h
/home/mickey/Documents/modelspace/cpp/src/frames/Frame.cpp

Public Member Functions

Public Attributes

Protected Attributes

Additional Inherited Members

Detailed Description

Naming conventions

Constructor & Destructor Documentation

◆ Frame()

◆ ~Frame()

Member Function Documentation

◆ calcFrameTreeExtAcceleration()

◆ calcFrameTreeExtForcesMoments()

◆ dump()

◆ frameChildren()

◆ getFrameByAddress()

◆ getFrameRootPointer()

◆ getStateAsStateVector()

◆ getStateVectorDot()

◆ integrator() [1/2]

◆ integrator() [2/2]

◆ parent() [1/3]

◆ parent() [2/3]

◆ parent() [3/3]

◆ parentRelAcceleration()

◆ parentRelAngularAcceleration()

◆ rJoint()

◆ rootRelAcceleration() [1/2]

◆ rootRelAcceleration() [2/2]

◆ rootRelAngularAcceleration() [1/2]

◆ rootRelAngularAcceleration() [2/2]

◆ rootRelAngularVelocity() [1/2]

◆ rootRelAngularVelocity() [2/2]

◆ rootRelDCM() [1/2]

◆ rootRelDCM() [2/2]

◆ rootRelPosition() [1/2]

◆ rootRelPosition() [2/2]

◆ rootRelQuaternion() [1/2]

◆ rootRelQuaternion() [2/2]

◆ rootRelVelocity() [1/2]

◆ rootRelVelocity() [2/2]

◆ setParentRelAcceleration()

◆ setParentRelAngularAcceleration()

◆ setRootRelAngularVelocity()

◆ setRootRelAttitude()

◆ setRootRelPosition()

◆ setRootRelVelocity()

◆ setStateFromStateVector()

◆ tJoint()

Member Data Documentation

◆ _acc_f_p__p

◆ _alpha_f_p__f

◆ _integrator_ptr

◆ _parent

◆ _r_joint

◆ _t_joint

◆ ang_vel_f_p__f

◆ pos_f_p__p

◆ quat_f_p

◆ self_id

◆ vel_f_p__p