bt_dynamics_link Struct Reference

#include <dynamics.h>

List of all members.

Public Attributes
Doubly-linked for convenience
struct bt_dynamics_link *	next
struct bt_dynamics_link *	prev
Geometrical and inertial parameters
double	mass
gsl_vector *	com
gsl_matrix *	I
Forward-calculated vectors (in local link frame)
gsl_vector *	omega
gsl_vector *	omega_prev
gsl_vector *	alpha
gsl_vector *	a
Backward-calculated vectors (in local link frame)
gsl_vector *	fnet
gsl_vector *	tnet
gsl_vector *	f
gsl_vector *	f_next
gsl_vector *	t
Jacobian computed at the center-of-mass (used for JSIM calc)
gsl_matrix *	com_jacobian
gsl_matrix *	com_jacobian_linear
gsl_matrix *	com_jacobian_angular

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Detailed Description

Link-specific data, including mass and inertial parameters, the center-of-mass, and vectors/matrices to hold the results of dynamics calculations. For an overview of the dynamics module, see dynamics.h.

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Member Data Documentation

gsl_vector* bt_dynamics_link::a

linear acceleration of frame origin

gsl_vector* bt_dynamics_link::alpha

angular acceleration of local frame w.r.t. base frame

gsl_vector* bt_dynamics_link::com

Center of mass of link (m), in DH link frame

gsl_matrix* bt_dynamics_link::com_jacobian_angular

Matrix view of angular jacobian (lower half)

gsl_matrix* bt_dynamics_link::com_jacobian_linear

Matrix view of linear jacobian (upper half)

gsl_vector* bt_dynamics_link::f

force exerted on this link by previous link

gsl_vector* bt_dynamics_link::f_next

Next frame's force in my frame

gsl_matrix* bt_dynamics_link::I

Inertia matrix of link, around link center-of-mass

double bt_dynamics_link::mass

Mass of link (kg)

gsl_vector* bt_dynamics_link::omega

angular velocity of local frame w.r.t. base frame

gsl_vector* bt_dynamics_link::omega_prev

Previous frame's ang vel in my frame

gsl_vector* bt_dynamics_link::t

torque exerted on this link by previous link

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

• include/barrett/cdlbt/dynamics.h