bt_dynamics Struct Reference

#include <dynamics.h>

List of all members.

Public Attributes
int	dof
int	nlinks
struct bt_dynamics_link **	link_array
struct bt_dynamics_link *	base
struct bt_dynamics_link **	link
struct bt_dynamics_link *	toolplate
gsl_matrix *	jsim
gsl_vector *	temp1_v3
gsl_vector *	temp2_v3
gsl_matrix *	temp3x3_1
gsl_matrix *	temp3x3_2
gsl_matrix *	temp3xn_1

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Detailed Description

Robot dynamics data, holding an array of links (mirroring the structure of the bt_kinematics module described in kinematics.h), along with a place to calculate the JSIM and some temporary vectors and matrices.

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

• include/barrett/cdlbt/dynamics.h