cnoid::DySubBody Class Reference

#include <DyBody.h>

Inheritance diagram for cnoid::DySubBody:

Public Member Functions
	DySubBody (DyLink *rootLink)
	DySubBody (DyLink *rootLink, std::multimap< Link *, ForceSensor * > &forceSensorMap)
DyLink *	rootLink ()
std::vector< DyLink * > &	links ()
int	numLinks () const
DyLink *	link (int localIndex)
bool	isStatic () const
ForwardDynamics *	forwardDynamics ()
ForwardDynamicsCBM *	forwardDynamicsCBM ()
const std::vector< ForceSensor * > &	forceSensors ()
void	clearExternalForces ()
void	calcSpatialForwardKinematics ()
Public Member Functions inherited from cnoid::Referenced
virtual	~Referenced ()

Friends
class	ConstraintForceSolver

Additional Inherited Members
Protected Member Functions inherited from cnoid::Referenced
	Referenced ()
	Referenced (const Referenced &)
int	refCount () const

Constructor & Destructor Documentation

DySubBody() [1/2]

DySubBody::DySubBody

(

DyLink *

rootLink

)

DySubBody() [2/2]

DySubBody::DySubBody	(	DyLink *	rootLink,
		std::multimap< Link *, ForceSensor * > &	forceSensorMap
	)

Member Function Documentation

calcSpatialForwardKinematics()

void DySubBody::calcSpatialForwardKinematics

(

)

clearExternalForces()

void DySubBody::clearExternalForces

(

)

forceSensors()

const std::vector<ForceSensor*>& cnoid::DySubBody::forceSensors ( )

inline

forwardDynamics()

ForwardDynamics* cnoid::DySubBody::forwardDynamics ( )

inline

forwardDynamicsCBM()

ForwardDynamicsCBM* cnoid::DySubBody::forwardDynamicsCBM ( )

inline

isStatic()

bool cnoid::DySubBody::isStatic ( ) const

inline

link()

DyLink* cnoid::DySubBody::link ( int  localIndex )

inline

links()

std::vector<DyLink*>& cnoid::DySubBody::links ( )

inline

numLinks()

int cnoid::DySubBody::numLinks ( ) const

inline

rootLink()

DyLink* cnoid::DySubBody::rootLink ( )

inline

Friends And Related Function Documentation

ConstraintForceSolver

friend class ConstraintForceSolver

friend

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

• DyBody.h
• DyBody.cpp