#include <Skeleton.hpp>

Public Attributes
DirtyFlags	mDirty

std::vector< BodyNode * >	mBodyNodes
	BodyNodes belonging to this tree. More...

std::vector< const BodyNode * >	mConstBodyNodes
	Cache for const BodyNodes, for the sake of the API. More...

std::vector< DegreeOfFreedom * >	mDofs
	Degrees of Freedom belonging to this tree. More...

std::vector< const DegreeOfFreedom * >	mConstDofs
	Cache for const Degrees of Freedom, for the sake of the API. More...

Eigen::MatrixXd	mM
	Mass matrix cache. More...

Eigen::MatrixXd	mAugM
	Mass matrix for the skeleton. More...

Eigen::MatrixXd	mInvM
	Inverse of mass matrix for the skeleton. More...

Eigen::MatrixXd	mInvAugM
	Inverse of augmented mass matrix for the skeleton. More...

Eigen::VectorXd	mCvec
	Coriolis vector for the skeleton which is C(q,dq)*dq. More...

Eigen::VectorXd	mG
	Gravity vector for the skeleton; computed in nonrecursive dynamics only. More...

Eigen::VectorXd	mCg
	Combined coriolis and gravity vector which is C(q, dq)*dq + g(q). More...

Eigen::VectorXd	mFext
	External force vector for the skeleton. More...

Eigen::VectorXd	mFc
	Constraint force vector. More...

math::SupportPolygon	mSupportPolygon
	Support polygon. More...

std::vector< std::size_t >	mSupportIndices
	A map of which EndEffectors correspond to the individual points in the support polygon. More...

std::pair< Eigen::Vector3d, Eigen::Vector3d >	mSupportAxes
	A pair of vectors which map the 2D coordinates of the support polygon into 3D space. More...

math::SupportGeometry	mSupportGeometry
	Support geometry – only used for temporary storage purposes. More...

Eigen::Vector2d	mSupportCentroid
	Centroid of the support polygon. More...

Member Data Documentation

◆ mAugM

Eigen::MatrixXd dart::dynamics::Skeleton::DataCache::mAugM

Mass matrix for the skeleton.

◆ mBodyNodes

std::vector<BodyNode*> dart::dynamics::Skeleton::DataCache::mBodyNodes

BodyNodes belonging to this tree.

◆ mCg

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mCg

Combined coriolis and gravity vector which is C(q, dq)*dq + g(q).

◆ mConstBodyNodes

std::vector<const BodyNode*> dart::dynamics::Skeleton::DataCache::mConstBodyNodes

Cache for const BodyNodes, for the sake of the API.

◆ mConstDofs

std::vector<const DegreeOfFreedom*> dart::dynamics::Skeleton::DataCache::mConstDofs

Cache for const Degrees of Freedom, for the sake of the API.

◆ mCvec

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mCvec

Coriolis vector for the skeleton which is C(q,dq)*dq.

◆ mDirty

DirtyFlags dart::dynamics::Skeleton::DataCache::mDirty

◆ mDofs

std::vector<DegreeOfFreedom*> dart::dynamics::Skeleton::DataCache::mDofs

Degrees of Freedom belonging to this tree.

◆ mFc

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mFc

Constraint force vector.

◆ mFext

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mFext

External force vector for the skeleton.

◆ mG

Eigen::VectorXd dart::dynamics::Skeleton::DataCache::mG

Gravity vector for the skeleton; computed in nonrecursive dynamics only.

◆ mInvAugM

Eigen::MatrixXd dart::dynamics::Skeleton::DataCache::mInvAugM

Inverse of augmented mass matrix for the skeleton.

◆ mInvM

Eigen::MatrixXd dart::dynamics::Skeleton::DataCache::mInvM

Inverse of mass matrix for the skeleton.

◆ mM

Eigen::MatrixXd dart::dynamics::Skeleton::DataCache::mM

Mass matrix cache.

◆ mSupportAxes

std::pair<Eigen::Vector3d, Eigen::Vector3d> dart::dynamics::Skeleton::DataCache::mSupportAxes

A pair of vectors which map the 2D coordinates of the support polygon into 3D space.

◆ mSupportCentroid

Eigen::Vector2d dart::dynamics::Skeleton::DataCache::mSupportCentroid

Centroid of the support polygon.

◆ mSupportGeometry

math::SupportGeometry dart::dynamics::Skeleton::DataCache::mSupportGeometry

Support geometry – only used for temporary storage purposes.

◆ mSupportIndices

std::vector<std::size_t> dart::dynamics::Skeleton::DataCache::mSupportIndices

A map of which EndEffectors correspond to the individual points in the support polygon.

◆ mSupportPolygon

math::SupportPolygon dart::dynamics::Skeleton::DataCache::mSupportPolygon

Support polygon.

Public Attributes