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rdSDFast Class Reference

A wrapper class that implements many of the methods in rdModel by interfacing with SDFast. More...

#include <rdSDFast.h>

Inheritance diagram for rdSDFast:

List of all members.

Public Member Functions
	rdSDFast ()
	Default constructor.
virtual	~rdSDFast ()
	Destructor.
virtual void	setGravity (double aGrav[3])
	Set the gravity.
virtual void	getGravity (double rGrav[3]) const
	Get the gravity.
virtual void	setConfiguration (const double aQ[], const double aU[])
	Set the configuration of the model.
virtual void	setConfiguration (const double aY[])
	Set the configuration of the model.
virtual int	getGroundID () const
	Get the body ID of the ground (or inertial) frame.
virtual void	getBodyToJointBodyLocal (int aBody, double rBTJ[3]) const
	Get the vector directed from a body's center of mass to its joint.
virtual void	getInboardToJointBodyLocal (int aBody, double rITJ[3]) const
	For a specifited body, get the vector directed from the center of mass of the body's inboard body to the body's joint with the inboard body.
virtual double	getMass (int aBody) const
	Get the mass of a body.
virtual int	getInertiaBodyLocal (int aBody, double rI[3][3]) const
	Get the scalar inertia matrix of a body.
virtual int	getInertiaBodyLocal (int aBody, double *rI) const
	Get the scalar inertia matrix of a body.
virtual void	getSystemInertia (double *rM, double rCOM[3], double rI[3][3]) const
	Get the mass, center of mass, and inertia tensor of the whole model.
virtual void	getSystemInertia (double *rM, double *rCOM, double *rI) const
	Get the mass, center of mass, and inertia tensor of the whole model.
virtual void	getPosition (int aBody, const double aPoint[3], double rPos[3]) const
	Get the inertial position of a point on a body.
virtual void	getVelocity (int aBody, const double aPoint[3], double rVel[3]) const
	Get the inertial velocity of a point on a body.
virtual void	getAcceleration (int aBody, const double aPoint[3], double rAcc[3]) const
	Get the inertial acceleration of a point on a body.
virtual void	getDirectionCosines (int aBody, double rDirCos[3][3]) const
	Get the body orientation with respect to the ground.
virtual void	getDirectionCosines (int aBody, double *rDirCos) const
	Get the body orientation with respect to the ground.
virtual void	getAngularVelocity (int aBody, double rAngVel[3]) const
	Get the inertial angular velocity of a body in the ground reference frame.
virtual void	getAngularVelocityBodyLocal (int aBody, double rAngVel[3]) const
	Get the inertial angular velocity in the local body reference frame.
virtual void	getAngularAcceleration (int aBody, double rAngAcc[3]) const
	Get the inertial angular acceleration of a body in the ground reference frame.
virtual void	getAngularAccelerationBodyLocal (int aBody, double rAngAcc[3]) const
	Get the inertial angular acceleration in the local body reference frame.
virtual void	applyForce (int aBody, const double aPoint[3], const double aForce[3])
	Apply a force expressed in the inertial frame to a point on a body.
virtual void	applyForces (int aN, const int aBodies[], const double aPoints[][3], const double aForces[][3])
	Apply a set of forces expressed in the inertial frame to a set of bodies.
virtual void	applyForces (int aN, const int aBodies[], const double *aPoints, const double *aForces)
	Apply forces expressed in the inertial frame to points bodies.
virtual void	applyForceBodyLocal (int aBody, const double aPoint[3], const double aForce[3])
	Apply a force expressed in the body-local frame to a point on a body.
virtual void	applyForcesBodyLocal (int aN, const int aBodies[], const double aPoints[][3], const double aForces[][3])
	Apply a set of forces to a set of bodies.
virtual void	applyForcesBodyLocal (int aN, const int aBodies[], const double *aPoints, const double *aForces)
	Apply a set of forces to a set of bodies.
virtual void	applyTorque (int aBody, const double aTorque[3])
	Apply a torque expressed in the inertial frame to a body.
virtual void	applyTorques (int aN, const int aBodies[], const double aTorques[][3])
	Apply a set of torques expressed in the inertial frame to a set of bodies.
virtual void	applyTorques (int aN, const int aBodies[], const double *aTorques)
	Apply a set of torques expressed in the inertial frame to a set of bodies.
virtual void	applyTorqueBodyLocal (int aBody, const double aTorque[3])
	Apply a torque expressed in the body-local frame to a body.
virtual void	applyTorquesBodyLocal (int aN, const int aBodies[], const double aTorques[][3])
	Apply a set of torques expressed in the body-local frame to a set of bodies.
virtual void	applyTorquesBodyLocal (int aN, const int aBodies[], const double *aTorques)
	Apply a set of torques expressed in the body-local frame to a set of bodies.
virtual void	applyGeneralizedForce (int aU, double aF)
	Apply a generalized force to a generalized coordinate.
virtual void	applyGeneralizedForces (const double aF[])
	Apply generalized forces.
virtual void	applyGeneralizedForces (int aN, const int aU[], const double aF[])
	Apply generalized forces.
virtual double	getNetAppliedGeneralizedForce (int aU) const
	Get the net applied generalized force.
virtual void	computeGeneralizedForces (double aDUDT[], double rF[]) const
	Compute the generalized forces necessary to achieve a set of specified accelerations.
virtual int	computeAccelerations (double *dqdt, double *dudt)
	Compute the derivatives of the generalized coordinates and speeds.
virtual void	formMassMatrix (double *rI)
	Form the system mass matrix.
virtual void	formEulerTransform (int aBody, double *rE) const
	Form the transformation matrix E[3][3] that can be used to express the angular velocity of a body in terms of the time derivatives of the euler angles.
virtual void	formJacobianTranslation (int aBody, const double aBodyPoint[3], double *rJ, int aRefBody=-1) const
	Form the full Jacobian matrix (J) for the translation of a point on a body.
virtual void	formJacobianOrientation (int aBody, double *rJ0, int aRefBody=-1) const
	Form the full Jacobian matrix (J0) for the orientation of a body.
virtual void	formJacobianEuler (int aBody, double *rJE, int aRefBody=-1) const
	Form the full Jacobian matrix (JE) for the orientation of a body expressed in terms of Euler angles.
virtual void	transform (int aBody1, const double aVec1[3], int aBody2, double rVec2[3]) const
	Transform a vector from one frame to another.
virtual void	convertQuaternionsToAngles (double *aQ, double *rQAng) const
	Convert quaterions to angles.
virtual void	convertQuaternionsToAngles (rdStorage *rQStore) const
	For all the generalized coordinates held in a storage object, convert the generalized coordinates expressed in quaternions to Euler angles.
virtual void	convertAnglesToQuaternions (double *aQAng, double *rQ) const
	Convert angles to quaterions.
virtual void	convertAnglesToQuaternions (rdStorage *rQStore) const
	For all the generalized coordinates held in a storage object, convert the generalized coordinates expressed in Euler angles to quaternions when appropriate.
virtual void	convertRadiansToDegrees (double *aQRad, double *rQDeg) const
	Convert the rotational generalized coordinates or speeds from units of radians to units of degrees.
virtual void	convertRadiansToDegrees (rdStorage *rQStore) const
	Convert the rotational generalized coordinates or speeds from units of radians to units of degrees for all the state-vectors in an rdStorage object.
virtual void	convertDegreesToRadians (double *aQDeg, double *rQRad) const
	Convert the rotational generalized coordinates or speeds from units of degrees to units of radiants.
virtual void	convertDegreesToRadians (rdStorage *rQStore) const
	Convert the rotational generalized coordinates or speeds from units of degrees to units of radians for all the state-vectors in an rdStorage object.
virtual void	convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double rDirCos[3][3]) const
	Convert angles to direction cosines.
virtual void	convertAnglesToDirectionCosines (double aE1, double aE2, double aE3, double *rDirCos) const
	Convert angles to direction cosines.
virtual void	convertDirectionCosinesToAngles (double aDirCos[3][3], double *rE1, double *rE2, double *rE3) const
	Convert direction cosines to angles.
virtual void	convertDirectionCosinesToAngles (double *aDirCos, double *rE1, double *rE2, double *rE3) const
	Convert direction cosines to angles.
virtual void	convertDirectionCosinesToQuaternions (double aDirCos[3][3], double *rQ1, double *rQ2, double *rQ3, double *rQ4) const
	Convert direction cosines to quaternions.
virtual void	convertDirectionCosinesToQuaternions (double *aDirCos, double *rQ1, double *rQ2, double *rQ3, double *rQ4) const
	Convert direction cosines to quaternions.
virtual void	convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double rDirCos[3][3]) const
	Convert quaternions to direction cosines.
virtual void	convertQuaternionsToDirectionCosines (double aQ1, double aQ2, double aQ3, double aQ4, double *rDirCos) const
	Convert quaternions to direction cosines.
Protected Attributes
int *	_u2jMap
	Map from generalized speed (degree of freedom) to joint.
int *	_u2aMap
	Map from generalized speed (degree of freedom) to axis.
Static Protected Attributes
const int	GROUND = -1
	Body number for ground.
Private Member Functions
void	setNull ()
	Set the values of all data members to an appropriate "null" value.
void	constructSystemVariables ()
	Construct system variables.
void	constructJointAndAxisMaps ()
	Construct maps that provide the joint and axis of a specified degree of freedom.
void	constructNames ()
	Construct the names of the model.

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Detailed Description

A wrapper class that implements many of the methods in rdModel by interfacing with SDFast.

Author:

Frank C. Anderson, James M. Ziegler

Version:

1.0

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Member Function Documentation

void rdSDFast::applyForce (  int  aBody, const double  aPoint[3], const double  aForce[3] )  [virtual]

Apply a force expressed in the inertial frame to a point on a body. Parameters: aBody  Body ID. aPoint  Point on the body expressed in the body-local frame. aForce  Force applied to the body expressed in the inertial frame. Implements rdModel.

void rdSDFast::applyForceBodyLocal (  int  aBody, const double  aPoint[3], const double  aForce[3] )  [virtual]

Apply a force expressed in the body-local frame to a point on a body. Parameters: aBody  Body ID. aPoint  Point on the body expressed in the body-local frame. aForce  Force applied to the body expressed in the body-local frame. Implements rdModel.

void rdSDFast::applyForces (  int  aN, const int  aBodies[], const double *  aPoints, const double *  aForces )  [virtual]

Apply forces expressed in the inertial frame to points bodies. Parameters: aN  Number of applied forces. aBodes  Array of body ID's. aPoints  Pointer to a sequence of points expressed in the body-local frame laid out as aPoints[aN][3]. aForces  Pointer to a sequence of forces expressed in the inertial frame laid out as aForces[aN][3]. Implements rdModel.

void rdSDFast::applyForces (  int  aN, const int  aBodies[], const double  aPoints[][3], const double  aForces[][3] )  [virtual]

Apply a set of forces expressed in the inertial frame to a set of bodies. The body points, aPoint, should be expressed in the body-local frame. The forces, aForce, should be expressed in the inertial frame. Parameters: aN  Number of applied forces. aBodies  Array of body ID's. aPoints  Pointer to a sequence of points expressed in the body-local frame laid out as aPoints[aN][3]. aForces  Pointer to a sequence of forces expressed in the inertial frame laid out as aForces[aN][3]. Implements rdModel.

void rdSDFast::applyForcesBodyLocal (  int  aN, const int  aBodies[], const double *  aPoints, const double *  aForces )  [virtual]

Apply a set of forces to a set of bodies. Parameters: aN  Number of Forces. aBody  Array of Body ID's. aPoint  Array of points on the bodies expressed in the body-local frames. aForce  Array of forces applied to the body expressed in the body-local frames. Implements rdModel.

void rdSDFast::applyForcesBodyLocal (  int  aN, const int  aBodies[], const double  aPoints[][3], const double  aForces[][3] )  [virtual]

Apply a set of forces to a set of bodies. Parameters: aN  Number of Forces. aBody  Array of Body ID's. aPoint  Array of points on the bodies expressed in the body-local frames. aForce  Array of forces applied to the body expressed in the body-local frames. Implements rdModel.

void rdSDFast::applyGeneralizedForce (  int  aU, double  aF )  [virtual]

Apply a generalized force to a generalized coordinate. Note that depending on the axis type the generalized force can be a torque or a force. Parameters: aU  Generalized coordinate. aF  Applied force. Implements rdModel.

void rdSDFast::applyGeneralizedForces (  int  aN, const int  aU[], const double  aF[] )  [virtual]

Apply generalized forces. The dimension of aF is assumed to be the number of generalized speeds. Parameters: aN  Number of generalized forces. aU  Generalized coordinate. aF  Applied force. Implements rdModel.

void rdSDFast::applyGeneralizedForces (  const double  aF[]  )  [virtual]

Apply generalized forces. The dimension of aF is assumed to be the number of generalized speeds. Parameters: aF  Applied force. Implements rdModel.

void rdSDFast::applyTorque (  int  aBody, const double  aTorque[3] )  [virtual]

Apply a torque expressed in the inertial frame to a body. Parameters: aBody  Body ID. aTorque  Torque expressed in the inertial frame. Implements rdModel.

void rdSDFast::applyTorqueBodyLocal (  int  aBody, const double  aTorque[3] )  [virtual]

Apply a torque expressed in the body-local frame to a body. Parameters: aBody  Body ID. aTorque  Torque expressed in the body-local frame. Implements rdModel.

void rdSDFast::applyTorques (  int  aN, const int  aBodies[], const double *  aTorques )  [virtual]

Apply a set of torques expressed in the inertial frame to a set of bodies. Parameters: aN  Number of Torques. aBody  Array of Body ID's. aTorques  Array of torques applied to the body expressed the inertial frame. Implements rdModel.

void rdSDFast::applyTorques (  int  aN, const int  aBodies[], const double  aTorques[][3] )  [virtual]

Apply a set of torques expressed in the inertial frame to a set of bodies. Parameters: aN  Number of Torques. aBody  Array of Body ID's. aTorques  Array of torques applied to the body expressed the inertial frame. Implements rdModel.

void rdSDFast::applyTorquesBodyLocal (  int  aN, const int  aBodies[], const double *  aTorques )  [virtual]

Apply a set of torques expressed in the body-local frame to a set of bodies. Parameters: aN  Number of Torques. aBody  Array of Body ID's. aTorques  Array of torques applied to the body expressed the body-local frame. Implements rdModel.

void rdSDFast::applyTorquesBodyLocal (  int  aN, const int  aBodies[], const double  aTorques[][3] )  [virtual]

Apply a set of torques expressed in the body-local frame to a set of bodies. Parameters: aN  Number of Torques. aBody  Array of Body ID's. aTorques  Array of torques applied to the body expressed the body-local frame. Implements rdModel.

int rdSDFast::computeAccelerations (  double *  dqdt, double *  dudt )  [virtual]

Compute the derivatives of the generalized coordinates and speeds. Parameters: dqdt  Derivatives of generalized coordinates. dudt  Derivatives of generalized speeds. Implements rdModel.

void rdSDFast::computeGeneralizedForces (  double  aDUDT[], double  rF[] )  const [virtual]

Compute the generalized forces necessary to achieve a set of specified accelerations. If any forces have been applied to the model, the balance of generalized forces needed to achieve the desired accelerations is computed. Note that constraints are not taken into account by this method. Parameters: aDUDT  Array of desired accelerations of the generalized coordinates- should be dimensioned to NU (see getNU()). rF  Array of generalized forces that will achieve aDUDT without enforcing any constraints- should be dimensioned to NU (see getNU()). Implements rdModel.

int rdSDFast::constructJointAndAxisMaps (   )  [private]

Construct maps that provide the joint and axis of a specified degree of freedom. Returns: -1 on an error, 0 otherwise.

void rdSDFast::constructSystemVariables (   )  [private]

Construct system variables. The following numbers are initialized by making SD/Fast calls: _nb Number of bodies. _nj Number of joints. _nu Number of degrees of freedom. _nq Number of generalized coordinates (_nu + number of ball joints). Memory allocations are performed for the following data members: _q _u Returns: -1 on an error, 0 otherwise.

void rdSDFast::convertAnglesToDirectionCosines (  double  aE1, double  aE2, double  aE3, double *  rDirCos )  const [virtual]

Convert angles to direction cosines. Parameters: aE1  1st Euler angle. aE2  2nd Euler angle. aE3  3rd Euler angle. rDirCos  Vector of direction cosines. Implements rdModel.

void rdSDFast::convertAnglesToDirectionCosines (  double  aE1, double  aE2, double  aE3, double  rDirCos[3][3] )  const [virtual]

Convert angles to direction cosines. Parameters: aE1  1st Euler angle. aE2  2nd Euler angle. aE3  3rd Euler angle. rDirCos  Vector of direction cosines. Implements rdModel.

void rdSDFast::convertAnglesToQuaternions (  rdStorage *  rQStore  )  const [virtual]

For all the generalized coordinates held in a storage object, convert the generalized coordinates expressed in Euler angles to quaternions when appropriate. Parameters: rQStore  Storage object of generalized coordinates that has all angles expressed as Euler angles in radians. The length of each state-vector in rQStore must be at least getNU(). Implements rdModel.

void rdSDFast::convertAnglesToQuaternions (  double *  aQAng, double *  rQ )  const [virtual]

Convert angles to quaterions. Parameters: aQAng  Array of generalized coordinates expressed in Euler angles. The length of aQAng must be at least getNU(). rQ  Vector of equivalent quaternions. Implements rdModel.

void rdSDFast::convertDegreesToRadians (  rdStorage *  rQStore  )  const [virtual]

Convert the rotational generalized coordinates or speeds from units of degrees to units of radians for all the state-vectors in an rdStorage object. It is assumed that the first first getNU() elements of each state-vector held in the rdStorage object are the generalized coordinates or speeds. Parameters: rQStore  Storage object. Implements rdModel.

void rdSDFast::convertDegreesToRadians (  double *  aQDeg, double *  rQRad )  const [virtual]

Convert the rotational generalized coordinates or speeds from units of degrees to units of radiants. Parameters: aQDeg  Array in degrees. The length of aQDeg should be at least the number of generalized speeds ( See also: getNU()). Parameters: rQRad  Array in radians. The length of rQRad should be at least the number of generalized speeds ( See also: getNU()). Implements rdModel.

void rdSDFast::convertDirectionCosinesToAngles (  double *  aDirCos, double *  rE1, double *  rE2, double *  rE3 )  const [virtual]

Convert direction cosines to angles. Parameters: aDirCos  Vector of direction cosines. rE1  1st Euler angle. rE2  2nd Euler angle. rE3  3rd Euler angle. Implements rdModel.

void rdSDFast::convertDirectionCosinesToAngles (  double  aDirCos[3][3], double *  rE1, double *  rE2, double *  rE3 )  const [virtual]

Convert direction cosines to angles. Parameters: aDirCos  Vector of direction cosines. rE1  1st Euler angle. rE2  2nd Euler angle. rE3  3rd Euler angle. Implements rdModel.

void rdSDFast::convertDirectionCosinesToQuaternions (  double *  aDirCos, double *  rQ1, double *  rQ2, double *  rQ3, double *  rQ4 )  const [virtual]

Convert direction cosines to quaternions. Parameters: aDirCos  Vector of direction cosines. rQ1  1st Quaternion. rQ2  2nd Quaternion. rQ3  3rd Quaternion. rQ4  4th Quaternion. Implements rdModel.

void rdSDFast::convertDirectionCosinesToQuaternions (  double  aDirCos[3][3], double *  rQ1, double *  rQ2, double *  rQ3, double *  rQ4 )  const [virtual]

Convert direction cosines to quaternions. Parameters: aDirCos  Vector of direction cosines. rQ1  1st Quaternion. rQ2  2nd Quaternion. rQ3  3rd Quaternion. rQ4  4th Quaternion. Implements rdModel.

void rdSDFast::convertQuaternionsToAngles (  rdStorage *  rQStore  )  const [virtual]

For all the generalized coordinates held in a storage object, convert the generalized coordinates expressed in quaternions to Euler angles. Parameters: rQStore  Storage object of generalized coordinates, some of which may be quaternions. The length of each state-vector in rQStore must be at least getNQ(). Implements rdModel.

void rdSDFast::convertQuaternionsToAngles (  double *  aQ, double *  rQAng )  const [virtual]

Convert quaterions to angles. Parameters: aQ  Array of generalized coordinates, some of which may be quaternions. The length of aQ must be at least getNQ(). rQAng  Array of equivalent angles. Implements rdModel.

void rdSDFast::convertQuaternionsToDirectionCosines (  double  aQ1, double  aQ2, double  aQ3, double  aQ4, double *  rDirCos )  const [virtual]

Convert quaternions to direction cosines. Parameters: aQ1  1st Quaternion. aQ2  2nd Quaternion. aQ3  3rd Quaternion. aQ4  4th Quaternion. rDirCos  Vector of direction cosines. Implements rdModel.

void rdSDFast::convertQuaternionsToDirectionCosines (  double  aQ1, double  aQ2, double  aQ3, double  aQ4, double  rDirCos[3][3] )  const [virtual]

Convert quaternions to direction cosines. Parameters: aQ1  1st Quaternion. aQ2  2nd Quaternion. aQ3  3rd Quaternion. aQ4  4th Quaternion. rDirCos  Vector of direction cosines. Implements rdModel.

void rdSDFast::convertRadiansToDegrees (  rdStorage *  rQStore  )  const [virtual]

Convert the rotational generalized coordinates or speeds from units of radians to units of degrees for all the state-vectors in an rdStorage object. It is assumed that the first first getNU() elements of each state-vector held in the rdStorage object are the generalized coordinates or speeds. Parameters: rQStore  Storage object. Implements rdModel.

void rdSDFast::convertRadiansToDegrees (  double *  aQRad, double *  rQDeg )  const [virtual]

Convert the rotational generalized coordinates or speeds from units of radians to units of degrees. Parameters: aQRad  Array in radians. The length of aQRad should be at least the number of generalized speeds ( See also: getNU()). Parameters: rQDeg  Array in degrees. The length of rQRad should be at least the number of generalized speeds ( See also: getNU()). Implements rdModel.

void rdSDFast::formEulerTransform (  int  aBody, double *  rE )  const [virtual]

Form the transformation matrix E[3][3] that can be used to express the angular velocity of a body in terms of the time derivatives of the euler angles. The Euler angle convention is body-fixed 1-2-3. Parameters: aBody  Body ID. rE  Euler angles. Implements rdModel.

void rdSDFast::formJacobianEuler (  int  aBody, double *  rJE, int  aRefBody = -1 )  const [virtual]

Form the full Jacobian matrix (JE) for the orientation of a body expressed in terms of Euler angles. JE is laid out as follows: dEx/dq1 dEx/dq2 dEx/dq3 ... dEx/dqnu dEy/dq1 dEy/dq2 dEy/dq3 ... dEy/dqnu dEz/dq1 dEz/dq2 dEz/dq3 ... dEz/dqnu where E is the orientation of the body using 1-2-3 body-fixed Euler angles. So, JE should have 3 rows and NU columns. In memory, the column index increments fastest, so the representation is JE[3][NU]. It is assumed that enough space has been allocated at rJO to hold all of the Jacobian elements. The Jacobian elements can be expressed in terms of the ground frame or a particular body frame. By default, the elements are expressed in the ground frame. Parameters: aBody  Body whose orientation Jacobian is desired. rJE  Euler Jacobian. aRefBody  Body frame in which to express the Jacobian elements. aRefBody has a default value of -1, which results in the Jacobian elements being expressed in the ground frame. Implements rdModel.

void rdSDFast::formJacobianOrientation (  int  aBody, double *  rJ0, int  aRefBody = -1 )  const [virtual]

Form the full Jacobian matrix (J0) for the orientation of a body. Note that J0 is not appropriate for operations when the body orientation is specified in terms of Euler angles. When the body is described in terms of Euler angles, the method formJacobianEuler should be used. J0 is laid out as follows: dOx/dq1 dOx/dq2 dOx/dq3 ... dOx/dqnu dOy/dq1 dOy/dq2 dOy/dq3 ... dOy/dqnu dOz/dq1 dOz/dq2 dOz/dq3 ... dOz/dqnu where O is the orientation of the body. So, JO should have 3 rows and NU columns. In memory, the column index increments fastest, so the representation is JO[3][NU]. It is assumed that enough space has been allocated at rJO to hold all of the Jacobian elements. The Jacobian elements can be expressed in terms of the ground frame or a particular body frame. By default, the elements are expressed in the ground frame. Parameters: aBody  Body whose orientation Jacobian is desired. rJO  Orientation Jacobian. aRefBody  Body frame in which to express the Jacobian elements. aRefBody has a default value of -1, which results in the Jacobian elements being expressed in the ground frame. Implements rdModel.

void rdSDFast::formJacobianTranslation (  int  aBody, const double  aBodyPoint[3], double *  rJ, int  aRefBody = -1 )  const [virtual]

Form the full Jacobian matrix (J) for the translation of a point on a body. J is laid out as follows: dPx/dq1 dPx/dq2 dPx/dq3 ... dPx/dqnu dPy/dq1 dPy/dq2 dPy/dq3 ... dPy/dqnu dPz/dq1 dPz/dq2 dPz/dq3 ... dPz/dqnu where P is the point on the body. So, J should have 3 rows and NU columns. In memory, the column index increments fastest, so the representation is J[3][NU]. It is assumed that enough space has been allocated at aJ to hold all of the Jacobian elements. The Jacobian elements can be expressed in terms of the ground frame or a particular body frame. By default, the elements are expressed in the ground frame. Parameters: aBody  Body on which the point resides. aPoint  Point position expressed in the local frame of body aBody. rJ  Jacobian of point aPoint. aRefBody  Body frame with respect to which the Jacobian elements are expressed. aRefBody has a default value of -1, which results in the Jacobian elements being expressed in the ground frame. Implements rdModel.

void rdSDFast::formMassMatrix (  double *  rI  )  [virtual]

Form the system mass matrix. Parameters: rI  Mass matrix (a square matrix of size NU*NU). Implements rdModel.

void rdSDFast::getAcceleration (  int  aBody, const double  aPoint[3], double  rAcc[3] )  const [virtual]

Get the inertial acceleration of a point on a body. Note that the configuration of the model must be set and accelerations of the generalized coordinates must be computed before calling this method. Parameters: aBody  Body ID. aPoint  Point on the body expressed in the body-local frame. rAcc  Acceleration of the point in the inertial frame. See also: set() computeAccelerations() Implements rdModel.

void rdSDFast::getAngularAcceleration (  int  aBody, double  rAngAcc[3] )  const [virtual]

Get the inertial angular acceleration of a body in the ground reference frame. Parameters: aBody  Body ID. rAngAcc  Angular acceleration of the body. Implements rdModel.

void rdSDFast::getAngularAccelerationBodyLocal (  int  aBody, double  rAngAcc[3] )  const [virtual]

Get the inertial angular acceleration in the local body reference frame. Parameters: aBody  Body ID. rAngAcc  Angular acceleration of the body. Implements rdModel.

void rdSDFast::getAngularVelocity (  int  aBody, double  rAngVel[3] )  const [virtual]

Get the inertial angular velocity of a body in the ground reference frame. Parameters: aBody  Body ID. rAngVel  Angular velocity of the body. Implements rdModel.

void rdSDFast::getAngularVelocityBodyLocal (  int  aBody, double  rAngVel[3] )  const [virtual]

Get the inertial angular velocity in the local body reference frame. Parameters: aBody  Body ID. rAngVel  Angular velocity of the body. Implements rdModel.

void rdSDFast::getBodyToJointBodyLocal (  int  aBody, double  rBTJ[3] )  const [virtual]

Get the vector directed from a body's center of mass to its joint. The body's joint is always the joint that that body has with its inboard body. Parameters: aBody  Body ID. rBTJ  Vector from the center of mass of the body to its joint with its inboard body. This vector is expressed in the local frame of aBody. Implements rdModel.

void rdSDFast::getDirectionCosines (  int  aBody, double *  rDirCos )  const [virtual]

Get the body orientation with respect to the ground. Parameters: aBody  Body ID. rDirCos  Orientation of the body with respect to the ground frame. Implements rdModel.

void rdSDFast::getDirectionCosines (  int  aBody, double  rDirCos[3][3] )  const [virtual]

Get the body orientation with respect to the ground. Parameters: aBody  Body ID. rDirCos  Orientation of the body with respect to the ground frame. Implements rdModel.

void rdSDFast::getGravity (  double  rGrav[3]  )  const [virtual]

Get the gravity. Parameters: rG  Gravity vector. Reimplemented from rdModel.

void rdSDFast::getInboardToJointBodyLocal (  int  aBody, double  rITJ[3] )  const [virtual]

For a specifited body, get the vector directed from the center of mass of the body's inboard body to the body's joint with the inboard body. Parameters: aBody  Body ID. rBTJ  Vector from the center of mass of the body's inboard body to its joint with the body's inboard body. This vector is expressed in the local frame of the inboard body. Implements rdModel.

int rdSDFast::getInertiaBodyLocal (  int  aBody, double *  rI )  const [virtual]

Get the scalar inertia matrix of a body. Parameters: aBody  Body ID. rI  Inertia matrix expressed in terms of body-local coordinates. Returns: -1 on an error, 0 otherwise. Implements rdModel.

int rdSDFast::getInertiaBodyLocal (  int  aBody, double  rI[3][3] )  const [virtual]

Get the scalar inertia matrix of a body. Parameters: aBody  Body ID. rI  Inertia matrix expressed in terms of body-local coordinates. Returns: -1 on an error, 0 otherwise. Implements rdModel.

double rdSDFast::getMass (  int  aBody  )  const [virtual]

Get the mass of a body. Parameters: aBody  Body ID. Returns: Body mass Implements rdModel.

double rdSDFast::getNetAppliedGeneralizedForce (  int  aU  )  const [virtual]

Get the net applied generalized force. The returned force is the sum of all applied forces plus any forces needed for any prescribed motions. The methods setState() (or equivalent) and computeAccelerations() must be called prior to calling this method for the returned result to be valid. Parameters: aU  Generalized speed (degree of freedom). Returns: Net applied force/torque at degree of freedom indexed by aU. Implements rdModel.

void rdSDFast::getPosition (  int  aBody, const double  aPoint[3], double  rPos[3] )  const [virtual]

Get the inertial position of a point on a body. Note that the configuration of the model must be set before calling this method. Parameters: aBody  Body ID. aPoint  Point on the body expressed in the body-local frame. rPos  Position of the point in the inertial frame. See also: setConfiguration() Implements rdModel.

void rdSDFast::getSystemInertia (  double *  rM, double *  rCOM, double *  rI )  const [virtual]

Get the mass, center of mass, and inertia tensor of the whole model. Parameters: rM  System mass. rCOM  System center of mass. rI  System inertia tensor. Implements rdModel.

void rdSDFast::getSystemInertia (  double *  rM, double  rCOM[3], double  rI[3][3] )  const [virtual]

Get the mass, center of mass, and inertia tensor of the whole model. Parameters: rM  System mass. rCOM  System center of mass. rI  System inertia tensor. Implements rdModel.

void rdSDFast::getVelocity (  int  aBody, const double  aPoint[3], double  rVel[3] )  const [virtual]

Get the inertial velocity of a point on a body. Note that the configuration of the model must be set before calling this method. Parameters: aBody  Body ID. aPoint  Point on the body expressed in the body-local frame. rVel  Velocity of the point in the inertial frame. See also: setConfiguration() Implements rdModel.

void rdSDFast::setConfiguration (  const double  aY[]  )  [virtual]

Set the configuration of the model. Parameters: aY  Statevector. Reimplemented from rdModel.

void rdSDFast::setConfiguration (  const double  aQ[], const double  aU[] )  [virtual]

Set the configuration of the model. Parameters: aQ  Generalized coordinates. aU  Generalized speeds. Todo: Should the states (y) be set when q and u are set? Reimplemented from rdModel.

void rdSDFast::setGravity (  double  aGrav[3]  )  [virtual]

Set the gravity. Parameters: aG  Gravity vector. Reimplemented from rdModel.

void rdSDFast::transform (  int  aBody1, const double  aVec1[3], int  aBody2, double  rVec2[3] )  const [virtual]

Transform a vector from one frame to another. Parameters: aBody1  ID of the body in which the vector is originally defined. aVec1  Vector to be transformed. aBody2  ID of the body in which the new vector will be defined. rVec2  Vector coordinates after transformation. Implements rdModel.

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

• rdSDFast.h
• rdSDFast.cpp
• rdSDFastF.cpp
• rdSDFastFWin.cpp

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