6 #ifndef CNOID_BODY_DYBODY_H 7 #define CNOID_BODY_DYBODY_H 56 double uu()
const {
return uu_; }
57 double&
uu() {
return uu_; }
58 double dd()
const {
return dd_; }
59 double&
dd() {
return dd_; }
66 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
76 virtual void prependChild(
Link* link);
77 virtual void appendChild(
Link* link);
108 std::vector<ConstraintForce> constraintForces_;
121 virtual Body* clone()
const;
122 virtual Link* createLink(
const Link* org = 0)
const;
140 void calcSpatialForwardKinematics();
DyLink * link(int index) const
Definition: DyBody.h:128
Vector3 point
Definition: DyBody.h:68
const Vector3 & pf() const
Definition: DyBody.h:48
Link * sibling() const
Definition: Link.h:50
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ConstraintForce(const Vector3 &point, const Vector3 &force)
Definition: DyBody.h:67
Matrix3 & Iww()
Definition: DyBody.h:43
Vector3 & hhw()
Definition: DyBody.h:55
const Vector3 & ptau() const
Definition: DyBody.h:50
Vector3 & dvo()
Definition: DyBody.h:33
Vector3 & vo()
Definition: DyBody.h:31
Vector3 & cw()
Definition: DyBody.h:41
Matrix3 & Ivv()
Definition: DyBody.h:47
Vector3 & cv()
Definition: DyBody.h:39
Link * rootLink() const
Definition: Body.h:127
const Matrix3 & Ivv() const
Definition: DyBody.h:46
const Vector3 & cw() const
Definition: DyBody.h:40
ConstraintForceArray & constraintForces()
Definition: DyBody.h:73
DyLink * parent() const
Definition: DyBody.h:26
double & uu()
Definition: DyBody.h:57
double uu() const
Definition: DyBody.h:56
std::vector< ConstraintForce > ConstraintForceArray
Definition: DyBody.h:71
Matrix3 & Iwv()
Definition: DyBody.h:45
Link * child() const
Definition: Link.h:51
const Matrix3 & Iww() const
Definition: DyBody.h:42
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Definition: DyBody.h:21
const Vector3 & vo() const
Definition: DyBody.h:30
Vector3 & ptau()
Definition: DyBody.h:51
DyLink * sibling() const
Definition: DyBody.h:27
double & dd()
Definition: DyBody.h:59
Link * parent() const
Definition: Link.h:49
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
const Vector3 & cv() const
Definition: DyBody.h:38
const Matrix3 & Iwv() const
Definition: DyBody.h:44
Link * link(int index) const
Definition: Body.h:107
const Vector3 & dvo() const
Definition: DyBody.h:32
Vector3 & pf()
Definition: DyBody.h:49
ref_ptr< DyBody > DyBodyPtr
Definition: DyBody.h:143
Link * joint(int id) const
Definition: Body.h:90
double dd() const
Definition: DyBody.h:58
Vector3 force
Definition: DyBody.h:69
DyLink * child() const
Definition: DyBody.h:28
DyLink * joint(int id) const
Definition: DyBody.h:124
const Vector3 & sw() const
Definition: DyBody.h:34
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37
const Vector3 & hhw() const
Definition: DyBody.h:54
const Vector3 & hhv() const
Definition: DyBody.h:52
Vector3 & sw()
Definition: DyBody.h:35
Vector3 & hhv()
Definition: DyBody.h:53
DyLink * link(const std::string &name) const
Definition: DyBody.h:132
Vector3 & sv()
Definition: DyBody.h:37
const ConstraintForceArray & constraintForces() const
Definition: DyBody.h:74
DyLink * rootLink() const
Definition: DyBody.h:136
Eigen::Matrix3d Matrix3
Definition: EigenTypes.h:57
const Vector3 & sv() const
Definition: DyBody.h:36