6 #ifndef CNOID_BODY_LINK_H_INCLUDED
7 #define CNOID_BODY_LINK_H_INCLUDED
12 #include <cnoid/EigenTypes>
13 #include <cnoid/ColdetModel>
34 inline const std::string&
name() {
37 inline void setName(
const std::string& name){
41 inline bool isValid() {
return (index >= 0); }
42 void addChild(
Link* link);
43 bool detachChild(
Link* link);
44 inline bool isRoot() {
return !parent; }
67 coldetModel->setPosition(R, p);
187 void setBodyIter(
Body* body);
188 friend std::ostream& ::operator<<(std::ostream &out,
Link& link);
189 void putInformation(std::ostream& out);
Matrix3 Iwv
bottom left block (transpose of top right block) of the articulated inertia
Definition: Link.h:143
double gearEfficiency
Definition: Link.h:164
Vector3 dvo
derivative of vo
Definition: Link.h:122
double Jm2
Equivalent rotor inertia: n^2*Jm [kg.m^2].
Definition: Link.h:152
double defaultJointValue
Definition: Link.h:159
Matrix3 Ivv
top left block of the articulated inertia
Definition: Link.h:144
double dd
Ia*s*s^T.
Definition: Link.h:150
boost::intrusive_ptr< ColdetModel > ColdetModelPtr
Definition: ColdetModel.h:221
Link * sibling
Definition: Link.h:85
Vector3 pf
bias force (linear element)
Definition: Link.h:145
Vector3 point
Definition: Link.h:172
Vector3 p
position
Definition: Link.h:88
Vector3 cv
dsv * dq (cross velocity term)
Definition: Link.h:132
bool isHighGainMode
Definition: Link.h:167
double uvlimit
the upper limit of joint velocities
Definition: Link.h:156
Vector3 v
linear velocity
Definition: Link.h:100
Vector3 hhw
bottom bock of Ia*s
Definition: Link.h:148
Vector3 tauext
external torque (around the world origin)
Definition: Link.h:136
double Ir
rotor inertia [kg.m^2]
Definition: Link.h:162
Vector3 ptau
bias force (torque element)
Definition: Link.h:146
double subm
mass of subtree
Definition: Link.h:179
double m
mass
Definition: Link.h:116
Link * parent
Definition: Link.h:84
Matrix3 attitude()
Definition: Link.h:47
JointType
Definition: Link.h:75
double encoderPulse
Definition: Link.h:161
JointType jointType
Definition: Link.h:82
Vector3 c
center of mass (self local)
Definition: Link.h:118
void setSegmentAttitude(const Matrix3 &R)
Definition: Link.h:59
double ulimit
the upper limit of joint values
Definition: Link.h:154
double u
joint torque
Definition: Link.h:108
Matrix3 segmentAttitude()
Definition: Link.h:64
Vector3 fext
external force
Definition: Link.h:135
bool isRoot()
Definition: Link.h:44
bool isValid()
Definition: Link.h:41
double rotorResistor
Definition: Link.h:165
fixed joint(0 dof)
Definition: Link.h:76
Vector3 d
translation joint axis (self local)
Definition: Link.h:111
Vector3 dw
derivative of omega
Definition: Link.h:103
double q
joint value
Definition: Link.h:105
Definition: EasyScanner.h:16
const std::string & name()
Definition: Link.h:34
double gearRatio
Definition: Link.h:163
void setName(const std::string &name)
Definition: Link.h:37
Vector3 dv
linear acceleration
Definition: Link.h:102
Body * body
Definition: Link.h:70
Vector3 sv
Definition: Link.h:130
Vector3 vo
translation elements of spacial velocity
Definition: Link.h:121
Vector3 force
Definition: Link.h:173
Vector3 wc
R * c + p.
Definition: Link.h:119
void setAttitude(const Matrix3 &R)
Definition: Link.h:46
Vector3 a
rotational joint axis (self local)
Definition: Link.h:110
void updateColdetModelPosition()
Definition: Link.h:66
double lvlimit
the lower limit of joint velocities
Definition: Link.h:157
ColdetModelPtr coldetModel
Definition: Link.h:169
Vector3 cw
dsw * dq (cross velocity term)
Definition: Link.h:133
Matrix3 R
Definition: Link.h:98
Matrix3 I
inertia tensor (self local, around c)
Definition: Link.h:117
Vector3 submwc
sum of m x wc of subtree
Definition: Link.h:180
Matrix3 Rs
relative attitude of the link segment (self local)
Definition: Link.h:114
Matrix3 Iww
bottm right block of the articulated inertia
Definition: Link.h:142
double uu
Definition: Link.h:149
Eigen::Vector3d Vector3
Definition: EigenTypes.h:26
Matrix3 calcRfromAttitude(const Matrix3 &R)
Definition: Link.h:48
#define CNOID_EXPORT
Definition: Util/exportdecl.h:13
int jointId
jointId value written in a model file
Definition: Link.h:73
Vector3 hhv
top block of Ia*s
Definition: Link.h:147
Vector3 w
angular velocity, omega
Definition: Link.h:101
CNOID_EXPORT std::ostream & operator<<(std::ostream &out, cnoid::Link &link)
Definition: Link.cpp:193
double llimit
the lower limit of joint values
Definition: Link.h:155
int index
Definition: Link.h:72
Vector3 sw
Definition: Link.h:126
Link * child
Definition: Link.h:86
ConstraintForceArray constraintForces
Definition: Link.h:177
std::vector< ConstraintForce > ConstraintForceArray
Definition: Link.h:176
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:25
double ddq
joint acceleration
Definition: Link.h:107
double torqueConst
Definition: Link.h:160
double dq
joint velocity
Definition: Link.h:106
Vector3 b
relative position (parent local)
Definition: Link.h:112
6-DOF root link
Definition: Link.h:78