scl::SForce Struct Reference

#include <SForce.hpp>

Inheritance diagram for scl::SForce:

Collaboration diagram for scl::SForce:

Public Member Functions
	SForce ()
virtual	~SForce ()
virtual const std::string &	getType () const
virtual const std::string &	getName () const
virtual bool	hasBeenInit () const

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW const SRobotParsed *	robot_
std::string	link_name_
const SRigidBodyDyn *	rbd_
Eigen::Vector6d	force_
Eigen::Vector3d	pos_
Eigen::Vector3d	direction_
Eigen::MatrixXd	J_
std::string	name_
sBool	has_been_init_

Protected Member Functions
	SForce (std::string arg_subclass_type)

Protected Attributes
std::string	type_

Detailed Description

Defines a task-space force acting on an articulated body. This force could technically appear out of nowhere. For instance, it could be a stochastic external noise force. Or a user interaction virtual force.

There are specific force sub-types derived from this basic force. Contact force; collision force etc.

Constructor & Destructor Documentation

scl::SForce::SForce ( )

inline

Default constructor. Sets stuff to zero

virtual scl::SForce::~SForce ( )

inlinevirtual

Default destructor. Does nothing

scl::SForce::SForce ( std::string  arg_subclass_type )

inlineprotected

Typed constructor (called by subclasses). Sets stuff to zero

Member Function Documentation

virtual const std::string& scl::SObject::getName ( ) const

inlinevirtualinherited

Get the object's type

virtual const std::string& scl::SObject::getType ( ) const

inlinevirtualinherited

Get the object's type

virtual bool scl::SObject::hasBeenInit ( ) const

inlinevirtualinherited

Get the object's type

Member Data Documentation

Eigen::Vector3d scl::SForce::direction_

The direction along which the force is applied.

Eigen::Vector6d scl::SForce::force_

The force vector [fx, fy, fz, fwx, fwy, fwz]

sBool scl::SObject::has_been_init_

inherited

Whether the object is ready for use

Eigen::MatrixXd scl::SForce::J_

The Jacobian of the point. Useful for converting the applied force into a set of generalized forces. Ie. J' * f

NOTE : This must be an [ndof x 6] sized Matrix to translate an [fx, fy, fz, fwx, fwy, fwz] force vector into joint torques.

std::string scl::SForce::link_name_

The link on which this force acts

std::string scl::SObject::name_

inherited

The object's name

Eigen::Vector3d scl::SForce::pos_

The point (wrt the link's coordinate frame) where the force acts

const SRigidBodyDyn* scl::SForce::rbd_

A pointer to the dynamic engine's object for this link

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const SRobotParsed* scl::SForce::robot_

Its parent robot

std::string scl::SObject::type_

protectedinherited

The object's type. Should only be set by the constructor

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The documentation for this struct was generated from the following file:

• /home/samir/Code/control/scl.git/src/scl/data_structs/SForce.hpp