ArticulatedComponent Class Reference

#include <ArticulatedComponent.h>

Inheritance diagram for ArticulatedComponent:

List of all members.

Public Member Functions

• ArticulatedComponent (std::string label)
• virtual ~ArticulatedComponent ()
• void computeIStar0 ()
• void deleteK ()

Public Attributes

• SymmetricMatrix3 IStar
• SymmetricMatrix3 IStar0
• Vector3 beta
• Vector3 betaExternal
• Vector3 betaStar
• Vector2 aLocal
• Vector2 vLocal
• unsigned int nContacts
• LinkContactInfoPVector K
• LinkContactInfoVector Q

---

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:

• ArticulatedComponent.h
• ArticulatedComponent.cpp

Thyrix homepage • Users' guide

(C) Arxia 2004-2005